Research on Walking Mechanism and Steering of Quadruped Robot

摘要

A new type of walking mechanism is designed for the quadruped robot. Each mechanical leg consists of a steering leg, a height-adjusting leg, a thigh and a calf. The height of the legs and the distance between the fore legs and the rear legs can be adjusted through the rotation of the height-adjusting joints which makes the robot climb up or down a slope just like walking on flat ground with high stability. And the robot can cross a higher obstacle. A steering control strategy based on diagonal trotting gait is proposed. The walking direction of the mechanical legs can be adjusted through the rotation of the steering joints and the robot can steer quickly and continuously while diagonal trotting. The relevant parameters of steering are also analyzed which provides reference and basis for the application of robot steering.