Research on Cheetah Bionic Quadruped Robot Technology

摘要

Taking the fastest running cheetah in nature as a bionic prototype, by analyzing the cheetah's skeletal physiology structure, leg movement range and various joint angles, study the unique high-speed running mechanism of cheetahs running, up and down slopes, and crossing obstacles and designed the torso structure, movement mode and neural control mode of the cheetah bionic robot, so as to propose a bionic quadruped robot with high-speed running technical characteristics. At the same time, carry out detailed scheme design of mechanism, power, perception and control electrical, etc., conduct kinematics and dynamics analysis of the robot system, and study the support phase\swing phase\flight phase gait model control of the cheetah quadruped robot, collaborative model control of active bionic spine and gait, finite state machine and stability model control.