Motion Control Simulation And Parameter Analysis Of Quadruped Robot Based On VMC

Compared with other mobile robots,footed robots have good balance,high stability,and can simulate the gait of humans and animals.It has been widely used in detection,search and rescue,performance,entertainment and other fields.Among the footed robots,the quadruped robots,which are mainly based on fourlegged mammals such as biological dogs and cheetahs,have good adaptive ability to complex terrain,load capacity and stability of movement.Moreover,quadruped robots have a variety of gait,flexible motion and relatively easy posture control.In recent years,quadruped robots have shown high practical and commercial value,and many research institutions,military organizations,enterprises,and scholars have devoted their attention to the research of quadruped robots.However,the current research on quadruped robots leaves much to be desired in terms of control system design,mechanical structure design,and energy management,which also limit the performance of quadruped robots in many application scenarios.In order to improve the adaptability of quadruped robot control methods to various complex terrains,and to provide reference values for quadruped robot structure design and energy management,this paper conducts a simulation study on the above issues using the VMC method based on Webots robot simulation software,with the following main research efforts:(1)The body structure of the quadruped robot is analyzed with reference to the body structure of quadruped mammals and mainstream quadruped robots,a simplified mathematical model is constructed according to the leg structure of the studied quadruped robot,the corresponding D-H coordinate system is established,and the D-H method is applied to solve the single-leg positive and negative kinematics of the quadruped robot and the inverse of the Jacobi and Jacobi matrices,and the foot end of the single-leg of the quadruped robot is The motion space was analyzed.(2)The common gait of the quadruped robot is analyzed,and the idea of intuitive control method is applied to plan the landing point of the foot end of the quadruped robot in the swing phase.By observing and studying the leg lifting and landing habits of quadruped mammals,a segmented fifth polynomial trajectory is designed to reduce the impact of the foot end during the robot motion and increase the rationality of swing step planning.The scheme of controlling diagonal gait based on the feedback of foot contact signal is proposed,which can realize the autonomous adjustment of gait phase transition,foot-end trajectory extension,and shortening in the case of complex terrain movement.It enhances the adaptability to complex terrain and avoids the problem of foot-end slippage caused by the cumulative error caused by the terrain during movement.(3)The virtual model control method is introduced,and the position control strategies of the support phase and swing phase as well as the attitude control strategies of pitch angle,cross-roll angle and yaw angle of the quadruped robot and the motion control structure of the whole machine are derived based on this method.Using the virtual model control method based on the Webots robot simulation test platform,a quadruped robot simulation model is established,and a quadruped robot simulation platform is built to simulate the Trot gait of the quadruped robot,and the difference between the motion performance of the quadruped robot and the desired motion target set in this environment is analyzed,as well as the change of the difference at different speeds.It is verified that the control method applied in this paper can achieve a more desirable control effect.(4)Finally,applying the quadruped robot control scheme based on the virtual model,the simulation platform is built in this paper,simulation experiments are carried out,energy consumption is introduced,and the traditional speed performance in all directions is used as the motion evaluation index,and the structural parameters and motion parameters that affect the motion performance of quadruped robots are compared and analyzed,and the advantages and disadvantages of quadruped robots with different leg configurations in terms of motion stability,control accuracy,and energy consumption performance are obtained.On the basis of the simulation platform in this paper,the simulation test environment of boss,inclined plane and sudden lateral impact is further constructed,and the motion performance of the proposed control method in complex environment is analyzed,which verifies that the control method in this paper has certain adaptive performance and anti-interference ability in these complex environments.The research work in this paper has some reference value for quadruped robot motion control,gait planning,trajectory planning.