Gait planning and motion control on the hydraulic pressure actuated quadruped robot

摘要

Aiming at the impact and shock of robot's body which were caused by the motion acceleration mutation of hydraulic cylinder,acceleration and deceleration control methods for hydraulic cylinder was analyzed,the motion stability and characteristics of hydraulic cylinder were studied,and the septic curve control method was presented and used as motion displacement control law of every degree of freedom.Straight gait of the quadruped robot was planned by the principle of motion stability margin,and the stability margin was guaranteed for 75millimeters when the robot's body was sustained by three legs. The simulation of the designed gaits,analysis and comparison of the kinematics and dynamics characteristics and the motion characteristics curves were done using simulation software. The results of experiments which were done on the prototype of quadruped walking robot were compared with the simulations'. The results indicate that the designed gait is feasible and the JQRI00 walks stably for cycles. Moreover,the septic curve used as displacement control makes the body more stable during the movement.