Abstract
In order to shorten the research and development cycle of quadruped robot, it is significant to solve the problem of single leg weight‐bearing and obtain a smooth gait switching. Firstly, a leg structure with an antiparallelogram is proposed, which greatly enhances the strength and stiffness of the leg in this paper. Secondly, the Simulink‐ADAMS cosimulation platform is built and the improved Hopf oscillator is used in the control of robot. This control mode based on CPG realizes the walk and trot gait of quadruped robot. Thirdly, in order to solve the problems of breakpoints, phase‐locked, and stopping of gait curve in the process of gait switching by directly replacing the gait matrix, the functional relationship between the right hind leg and duty cycle is introduced to realize the smooth transition of gait curve. The simulation results show that the proposed algorithm can achieve a smooth gait transformation within 4–6 second, which preliminarily proves the feasibility of the algorithm. Finally, the experimental platform is built and the control algorithm is written into the controller to realize the specific gait of the robot, which proves the effectiveness of the proposed method.
Highlights
Because of the scattered landing points, the foot robot can exibly adjust its walking posture in the foot reachable area and reasonably select the support points, so it has higher ability of obstacle avoidance and obstacle surmounting
According to the structural characteristics of quadruped robots, Xu et al built a fully symmetric CPG network model based on the Hopf oscillator model [23]
Wang et al constructed a new model of the bionerve central mode generator unit by using the universal Hopf oscillator as neuron, which solved the problem that the joint driving oscillation signal of the existing joint-like bionic robot could not be controlled [24]
Summary
Because of the scattered landing points, the foot robot can exibly adjust its walking posture in the foot reachable area and reasonably select the support points, so it has higher ability of obstacle avoidance and obstacle surmounting It has good application prospects in rescue and disaster relief, mine clearance, geographic exploration, and so on. According to the structural characteristics of quadruped robots, Xu et al built a fully symmetric CPG network model based on the Hopf oscillator model [23]. Wang et al constructed a new model of the bionerve central mode generator unit by using the universal Hopf oscillator as neuron, which solved the problem that the joint driving oscillation signal of the existing joint-like bionic robot could not be controlled [24]. E leg has two parallelograms, which greatly improves the strength and stiffness of the quadruped robot
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