关键词: 对角小跑步态, 振荡波, 中枢模式发生器, 四足机器人

Abstract:

It is difficult to achieve movement control stable walking of a quadruped robot based on the dynamics model, when the robot walks in an unstructured environment. In this paper, central pattern generators (CPGs) are used to control the quadruped robot with a trot gait. Simulation and experiment are performed. The foot trajectory of quadruped robot is planned with a sinusoidal function. The D-H coordinate method is used to analyze kinematics of the quadruped robot’s leg in the swing phase and the supporting phase. Joint angular displacement is obtained with inverse kinematics according to the planned foot trajectory. A CPG controller is designed, and an oscillation element model established with excited neurons and inhibiting neuronal components. The output is used to control
movement of the hip joint and knee joint of the quadruped robot. Simulation and experiment of the quadruped robot walking with a trot gait are performed to verify correctness of the theoretical analysis and the control method. The study lays a foundation for improving mobility of quadruped robots.

Key words: central pattern generator (CPG), trot gait, vibration wave, quadruped robot