Gait transition of quadruped robot using rhythm control and stability analysis

摘要

In this paper, a gait transition method of quadruped robot was investigated, which is controlled by changing rhythm. It makes the duration time of liftoff and touchdown events variable through the continuous change of walking parameters, and realizes the gait transition from walk to trot. The quadruped bionic robot is a series parallel-multiple branching of nonlinear inverted pendulum system. The stability of trot gait in gait transition processes to the stability of inverted pendulum, and the balance adjustment is generated basing the original motion. The experiment is verified by interactive co-simulation among Matlab-Adams. The transition method satisfies the continuous and steady movement of quadruped robot in gait transition.