Implementation and dynamic gait planning of a quadruped bionic robot

摘要

This paper investigates dynamic gait planning optimization and balance control of quadruped robots under external disturbance forces. First, a platform of quadruped walking robot with fourteen active degrees of freedom is designed. Then, a forward kinematic model of joints is built for quadruped robots based on Denavit-Hartenberg(D-H) method. The inverse kinematic equations are solved to result in joint values when the desired position and orientation are specified. A dynamic gait planning algorithm is proposed and tested on the quadruped robot. The planning function is established to create some point-to-point trajectories. The angle values of the joints can be calculated by using the inverse kinematics equations for every moment. Considering the external distribution a balance control approach is proposed to stabilize the robot based on the information from the attitude sensors. The walking is stabilized by a feedback control that uses a three-axis acceleration sensor. Experiments have been performed on the quadruped robot. The results showed that the proposed methods work well in dynamic gait planning and external disturbances of a quadruped bionic robot.