| The legged robot has many special road walking abilities,which can be used in engineering exploration and survey,anti-terrorism and explosion-proof,military reconnaissance and other dangerous work.It has important research significance in the field of mobile robot.Among many legged robots,the static stability performance of quadruped robot is much better than that of biped robot,and the redundancy and control complexity of mechanism are simpler than that of Hexapod and octapod.Therefore,quadruped structure has better comprehensive performance in the field of biped robot.It is for this reason that the bionic quadruped robot has become the top priority of current research.The main research contents of this thesis are as follows:Firstly,the basic theory and method based on trot gait.Based on quadruped trot gait,the basic theories and methods of trot gait were studied,including the concept of trot gait,common foot trajectory and common trot gait optimization methods.Secondly,the linear motion of quadruped robot based on trot gait is studied.Starting from the establishment of a simplified model of quadruped robot,the forward and inverse kinematics of quadruped robot were solved by D-H method and analytic method,then the foot trajectory planning was carried out,and finally the motion simulation was carried out to verify the accuracy of linear motion.The trajectory planning of the foot in linear motion uses the classical double cycloid function and the zero impact principle to optimize it.Thirdly,the research on turning motion of quadruped robot based on trot gait.Firstly,the forward and inverse kinematics of the quadruped robot is solved.Then,the initial foot endpoint and foot trajectory of each cycle are designed.Finally,aiming at the instability of the quadruped robot in the process of turning,the position of the center of mass is adjusted based on the zero moment point,which provides a simple and efficient solution for the dynamic balance control of the quadruped robot turning. |
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