Research on Quadruped Gait Planning of Intelligent Robot

摘要

The intelligent bionic foot robot is a kind of micro crawling robot with high motion stability, strong adaptability to the environment, good static stability, and can realize dynamic walking. In this paper, a bionic foot robot is designed based on a single-chip microcomputer. The single-chip microcomputer controls the power supply and the mission planner. The mission planner controls multiple steering gears. Multiple steering gears are used together to control the movement of leg 1, leg 2, leg 3 and leg 4 to the specified from the perspective. By observing the tortoise’s movement, analyzing its gait characteristics and summarizing the movement rules, a smart bionic foot robot gait planning method was proposed from the perspective of bionics; the DH matrix inverse kinematics equation of a single leg was calculated, and the end of the leg was calculated. The motion trajectory is converted to the motion trajectory of each joint, which provides the expected value for the servo controller of each joint; the Kinematics simulation based on CATIA V5 to verify the proposed method. Finally, a quadruped coordinated gait experiment was carried out on the developed intelligent bionic foot robot, and the results further demonstrated the effectiveness of the proposed method.