A biological inspired quadruped robot: structure and control

摘要

Traditional mechanism design and artificial planning based motion control is complicated. The produced gaits are inflexible with a slow motion. In order to realize animal-like motions, we designed mechanical structure of a quadruped robot to complete pitch motion by mimicking mammal's body. Referred to the leg motion pattern of mammals, joint motion trajectories were shaped and motion relationship of knee and hip joints was formulated for the quadruped robot. We built a netted model of biological central pattern generator (CPG) by connecting Matsuoka's oscillators via a weighted digraph, and used it as rhythmic motion controller for the quadruped robot. Proved by simulations and experiments, these designs are effective. The quadruped robot can walk quickly, naturally and smoothly. We also conducted researches on the influences of joint-configuration style on performances of robot. The result is the centrosymmetric joint configurations are beneficial for slipping-inhibition, and can improve the stability of motion