Gait Control Algorithm and Simulation of New Parallel Quadruped Military Robot

doi:10.12382/bgxb.2021.0796

Abstract

Abstract:

In the multi-joint walking robot control strategy, when only the CPG network control is used, there will be problems of various parameter and complex network structure. In addition, the robot’s work environment is usually varied and complex, requiring higher flexibility of robots and stronger anti-interference ability. So using a single control mode is difficult to meet the above requirements. To address these problems, by combining the CPG control method and the control method based on the virtual model, a new gait control algorithm is designed for parallel quadruped military robots whose each leg is a 3-UPS mechanism. CPG is used to complete the basic walking gait and the construction of the nonlinear oscillator network model between input and output, and then the output is mapped to the driving moment of the joint motor. The foot virtual force required to maintain the robot’s stable posture during walking is generated by the virtual model, and the foot virtual force is mapped to the joint’s driving moment. Finally, V-REP and MATLAB are used to simulate the proposed gait control algorithm, and the simulation results verify its effectiveness. The advantage of the proposed gait control algorithm is that it can simplify the control network and ensure the robot’s strong flexibility and anti-interference ability during walking, thus providing new insights into the gait control of parallel quadruped military robots.

Key words: parallel quadruped military robot, gait control algorithm, nonlinear oscillator, virtual model, V-REP simulation

LI Shanshan, WANG Hongbo, CHEN Jianyu, ZHANG Xingchao, TIAN Junjie, NIU Jianye. Gait Control Algorithm and Simulation of New Parallel Quadruped Military Robot[J]. Acta Armamentarii, 2023, 44(3): 895-909.

Figures/Tables 28

Fig. 1 Whole robot

Fig. 2 One leg mechanism

Fig. 3 Diagram of a single leg of the robot

Fig. 4 Coupled nonlinear oscillator network

Fig. 5 Diagram of periodic walking of a single leg

Fig. 6 Diagram of actual joint angle

Table 1 Relationship between step size and joint swing angle

步长／mm	A_max／(°)	B_max／(°)	L_s／mm	L_sm／mm
400	55.73	47.17	1 014.35	1 000.45
420	56.00	47.51	1 015.20	1 000.61
440	56.27	47.84	1 016.07	1 000.80
460	56.53	48.18	1 016.97	1 001.01
480	56.80	48.51	1 017.89	1 001.25
500	57.06	48.84	1 018.84	1 001.51
520	57.32	49.17	1 019.80	1 001.80
540	57.57	49.49	1 020.80	1 002.11
560	57.83	49.81	1 021.81	1 002.45
580	58.08	50.13	1 022.85	1 002.81
600	58.33	50.45	1 023.91	1 003.19
620	58.58	50.76	1 025.00	1 003.61

Table 2 Relationship between leg height and telescopic rod length

h／mm	L／mm	L_min／mm
200	1 000	800
204	1 020	816
208	1 040	832
212	1 060	848
216	1 080	864
220	1 100	880

Fig. 7 Diagram of coupled nonlinear oscillator network

Fig. 8 Output curve of the trot motor

Fig. 9 Output curve of the trot linear motor

Fig. 10 Diagram of pitch angle adjustment of the body

Fig. 11 Overturning moment diagram

Fig. 12 Corrected moment diagram

Fig. 13 Corrected moment diagram

Fig. 14 Diagram of coupled nonlinear oscillator network

Fig. 15 Overall block diagram of gait planning

Fig. 16 Final model drawing

Fig. 17 Gait control model

Fig. 18 Ground experiment

Fig. 19 Body attitude and altitude

Fig. 20 Body speed and foot force

Fig. 21 Slope experiment

Fig. 22 Body attitude and altitude

Fig. 23 Body speed and foot force

Fig. 24 Impact test

Fig. 25 Body attitude and altitude

Fig. 26 Body speed and foot force

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