Design and Experiment Study on a Quadruped Robot Single Legwith Composite Rigid-flexible Configuration for Gallop Gait

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To address the requirements of high speed and mobility for quadruped robots galloping,a composite rigidflexible structure model is proposed for a single leg of quadruped robots.The composite rigid-flexible structure is designed for a single leg of quadruped robots,and operating characteristics with or without impact loading,stiffness characteristics,D-H kinematics and toe work space are analyzed.After that,taking noise factor such as ground impact under dynamic motion into consideration,linear quadratic Gaussian control is applied to driver control of a single leg of quadruped robots.Then,with vertical hopping as an important basic motion prototype for galloping,analysis and simulation of equal-height jumping control under disabled environment are conducted based on finite state machine and peak height feedback.Finally,continuous vertical hopping experiment of a single leg with composite rigid-flexible structure of quadruped robots is conducted.Analysis and experiment results indicate the rationality of the structure design and the effectiveness of the control scheme.