Trotting Gait Planning and Stability Analysis for a Biomimetic Quadruped Robot

摘要

To take bionic quadruped robot as research object,in order to improve the stability of the diagonal gait,an approach of changing the initial position of the support foot in a diagonal gait to improve the robot motion stability was put forward. Throught to adjust the supporting foot location parameter n its initial support position is changed. The simulation showed that: n starts from 0 up to 0. 3,the stability is gradually increased; flip angle reduces to a minimum in the vicinity of n = 0. 3,and the fuselage deflection also gets to a minimum,which indicates a best stability; stability gradually weakens after n 0. 3; comparing compound cycloid to the elliptic curve as the foot trajectory of bionic quadruped robot,that also is found,in gait planning,compound cycloid is more conducive to the stability of robot's walking. Simulation and experiments show that the method is accurate and feasible. Therefore,by adjusting the initial position of the support foot and selecting the composite cycloid as the foot trajectory,the stability can be greatly improved for the bionic quadruped robot's walking,which makes foundation for fast and stable diagonal walking.