Study on the Static Gait of a Quadruped Robot Based on the Body Lateral Adjustment

摘要

In order to improve the static gait performance of a quadruped robot, the method based on the body lateral adjustment has been proposed. In this paper, two kinds of optimization models were designed, which were based on the body intermittent lateral adjustment, and based on the body continuous lateral adjustment, designed a evaluation function with the aim of stable motion and fast walking speed; Besides, the simulations of the virtual prototype model based on those two kinds of optimization models have been finished in MATLAB and ADAMS, and the simulation results were analyzed by the de-signed function; Finally, we can find that the better optimization model to improve the static gait performance of a quadruped robot is based on the body continuous lateral adjustment. Those simulation results revealed that it greatly enhances the quadruped robot's static gait performance by using the designed optimization model adjusting its body lateral position continuously.