Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Jian-Hua Qin,Huai-An Yi,Tian-Syung Lan,Lie-Ping Zhang,Jie Luo,Kai-Chi Chuang

doi:10.1155/2020/1571439

Jian-Hua Qin, Huai-An Yi + Show 4 more

Open Access

https://doi.org/10.1155/2020/1571439

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Abstract

Aiming at the problem that the stability of the quadruped robot is decreased as its leg momentum is too high, a stable balance adjustment structure of the quadruped robot based on the bionic lateral swing posture is proposed. First, the leg structure of the quadruped robot is improved and designed by using the mechanism of the lateral swing posture of the leg of the hoof animal. Then, the D-H method is used to construct the corresponding leg kinematics model and determine the generalized coordinates of the leg joints in the lateral swing posture. The torque expression of the quadruped robot when it is tilted is established. Based on the differential equation of momentum of the hip joint and its static stability analysis, the static stability conditions in the upright posture and the bionic lateral swing posture are given. Finally, the experimental simulation and comparative analysis of the upright posture and the lateral swing posture of the quadruped robot are proposed by using the Adams virtual prototype technology. The simulation results show that as the angle of lateral swing increases, the peak value of the positive flip torque of the quadruped robot body increases accordingly, while the degree of tilt decreases accordingly, which shows that the bionic lateral swing posture of the quadruped robot has higher static stability than the traditional upright posture. This research provides a technical reference for the design and optimization of the offline continuous gait of the robot and the improvement of stability.

Highlights

Determination of the Robot Kinematics Model and Static Stability ConditionsKinematics Model of the Leg. Robot kinematics describes the relationship between the joint angle and end posture during movement [12]
The point P is the projection of the center of mass of the giraffe on the ground, the quadrilateral EFGH is the support area in the upright posture, and EF is the short side of the quadrilateral
When in the stooped drinking posture, the leg swings outward at an angle θ, the area of the support area increases to a quadrilateral EFGH, the short side EF changes to the long side EF, and the shortest distance of the point P to the support boundary increases from d to d. erefore, this posture can shorten the distance between the head and the water surface, while increasing the support area and maintaining the balance of the body. is lateral swing posture can be used to improve the static stability for a quadruped walking robot whose structural parameters such as mass, leg length, and joint rotation angle are quantitative

Summary

Determination of the Robot Kinematics Model and Static Stability Conditions

Kinematics Model of the Leg. Robot kinematics describes the relationship between the joint angle and end posture during movement [12]. To solve the position and pose of the foot end, it is necessary to perform the D-H transformation on the homogeneous transformation matrix corresponding to each joint in order to establish the kinematics equation of the robot [13]. E coordinates of the foot end relative to the lateral swing hip joint are:. We consider the connecting rod between the joints of one leg as a mass point, so that one leg can be regarded as a mass point system. e first derivative of the moment of

B X-heading

Experimental Simulation

Conclusions