Multi-gait planning and dynamics analysis of quadruped bionic mobile robot inspired by turtle crawling and goat walking
In order to solve the problems of slow movement,poor environmental adaptability and single gait of rescue robots,a quadruped bionic mobile robot was designed according to the physiological structure of turtle and goat.Firstly,according to the characteristics of turtle crawling on soft ground and goat's strong movement ability,two gaits imitating turtle crawling and goat walking were planned for the robot to adapt to different environments and improve the robot's movement performance.Then,the dynamics analysis for the robot outrigger was carried out,and the quantitative relationship between the robot joint torque and motion performance parameters was obtained by establishing a dynamics model.Finally,the feasibility of the robot's gait and the robot's adaptability to the environment were verified by simulation and prototype experiments.The results showed that the designed robot had stable structure and reasonable gait planning,which could adapt to different complex terrains.The research results can provide important reference for the design and development of bionic robots.
国家科技期刊平台
NSTL
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