Research on the Structure Design Based on Cable Driven and Bounding Control Method of a Quadruped Robot with Double-Joint Spine
Spine joints play an important role in the high-speed locomotion of quadrupeds.In order to study the influence of spine movement on the motion of the quadruped robot,this paper conducts research including bionic structure design,bounding control method and spine influence law.Firstly,a double-jointed spine and three-segment flexible leg are designed based on the cable driven.The whole structure is compact and consistent with the physiological characteristic of the cheetah.Secondly,a time-based finite state machine is established based on the biological gait,a single rigid body dynamic model of robot for the bounding gait is constructed and corresponding control methods are proposed for the spine and leg respectively.The control method for leg is integrated with impulse planning and model predictive control(MPC).Thirdly,based on the structure design and control methods,the influence of spine motion on bounding movement is analyzed,and the contribution formula of spine for impulse is innovatively proposed.Finally,the effectiveness of bounding control and positive contribution of spine are verified via simulation.The results show that the participation of the spine movement can achieve similar impulse using smaller front and hind horizontal forces,and the speed tracking performance and orientation control stability are improved.
quadruped robotdouble-joint spinecable drivenbounding gaitmodel predictive control
万方数据
维普
