Modeling and Algorithm Implementation of Free Gait Planning for Quadruped Robot Based on Machine Vision

摘要

The gait research of walking robot is based on the walking posture of natural biped walking creatures. It has good stability, mobility and terrain adaptability in complex and rugged surface environment. Gait planning is a key link for any walking robot to realize its walking process, which has very important theoretical and practical significance for the research of robots. The combination of machine vision technology and robot remote control technology is getting closer and closer. By introducing machine vision technology, the robot can better adapt to the changes of the environment and improve the robustness of the robot remote control system. In order to obtain a stable and easy-to-control robot system, this paper studies and analyzes the static stability of the quadruped robot, and gives a method to judge the stability of the system. In this paper, the kinematics analysis of the leg structure of quadruped walking robot based on machine vision is studied, and the gait adjustment process and stable gait diagram from start to stable walking are put forward.