Research on Trot Gait Control of Quadruped Robot Based on Cross Coupling
A joint speed control method based on single neuron PID and cross coupling is proposed to improve the stability and coordination of the trot gait of the quadruped robot walking mechanism with less degree of freedom.By analyzing the structural characteristics and control requirements of the walking mechanism,the speed control of the walking mechanism is designed.A control strategy based on single neuron PID algorithm is proposed for the driving of a single walking unit,and a cross-coupling control strategy is introduced between the control systems of the diagonal two walking units.The above control methods are simulated by Simulink platform and verified by physical experiments.The speed adjustment time of the control method based on single neuron PID algorithm is 31.2％higher than that of the traditional control method.When the control strategy of single neuron PID algorithm combined with cross coupling control is adopted,the fluctuation range of synchronous speed deviation is reduced by 28％.The single neuron PID control algorithm and cross coupling control strategy can realize the precise control of motion,and have good anti-interference and robustness.The two walking units can run synchronously and coordinately,which enhances the motion stability of the robot and ensures the steady-state operation of the Trot gait.
quadruped robottrot gaitsynchronization controlsingle neuron PIDcross coupled control
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