Research on Gait Switching Control of Quadruped Robot Based on Dynamic and Static Combination

Abstract

To improve the adaptability of quadruped robot to different terrain and ensure the posture stability of the robot body during gait switching, it is necessary to plan different gaits for quadruped robot. This paper mainly studies the switching among three different gaits, and a switching control method of quadruped robot gait based on the dynamic and static combination is proposed, which includes intermittent static gait is switched to non-intermittent gait, non-intermittent gait is switched to trot gait. Firstly, this paper takes quadruped robot as the research object, the SolidWorks is used to conduct three-dimensional modeling, and the D-H algorithm is used to deduce the kinematics equation of a single leg. Then, the stability margin theory and the walking gait model of the quadruped robot is analyzed, and the gait switching strategy is formulated and the stability of the switching process is studied. Meanwhile, the important parameters affecting the motion stability of the robot during the switching process are analyzed, and the trajectory of the switching gait is planned by Matlab. In addition, based on Matlab-Adams co-simulation analysis and physical prototype experiment analysis, the simulation and experimental resulted verify the feasibility and effectiveness of the proposed quadruped robot gait switching control strategy based on dynamic and static combination.