Abstract
In order to solve the defects of the large inertia and control difficulty of the electrically driven quadruped legs of robots, a novel leg structure and a control method are proposed in this paper. In terms of structure, the motor of the knee is arranged in the body of the robot to reduce the weight of the legs. In addition, this paper improves the PVT difference control algorithm embedded in the PMAC controller. Using the nonlinear control principle of the U-model, the optimized segmented Hermite difference method is used to implement the planning of the foot trajectory of the quadruped robot. Simulation and experiment show that the leg structure design is reasonable and the improved interpolation algorithm has good control effect.
Highlights
Quadruped robots, which combine the flexibility of biped robots and the stability of hexapod robots, are widely used in flood fighting, explosive disposal, military transportation, interplanetary detective, etc
With the support of the national high and new technology research and development plan (863 Plan), Shandong University, Harbin Technical University, Shanghai Jiao Tong University, and other institutes have made a lot of achievements in the field of quadruped robots, successfully realizing robot steady walking on the slope and gravel road surface [6,7,8,9]
Due to the complexity of D-H coordinate and the characteristics of parallelogram and contraparallelogram linkage mechanism, the leg model of the quadruped robot is simplified in kinematics analysis
Summary
Quadruped robots, which combine the flexibility of biped robots and the stability of hexapod robots, are widely used in flood fighting, explosive disposal, military transportation, interplanetary detective, etc. Due to their superior performance, they have attracted more and more scholars for study. In literature [10] He and Ma raised a method to generate cycloid trajectory of the foot. None of the above literatures has proposed a specific method to realize the cycloid trajectory of the quadruped robot through the controller. We designed an electrically driven leg structure and proposed a method of generating the foot trajectory of quadruped robot for the purpose of the trajectory planning. The planned foot trajectory is written into the PMAC controller to realize the foot movement
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