Gait Control of Quadruped Robot Driven by Pneumatic Muscle Based on Kimura Oscillator and Virtual Model

doi:10.3969/j.issn.1000-1093.2018.07.020

Abstract

Abstract: Gait control is the key for quadruped robot adapting to complex terrain, for this purpose, gait controller is proposed for robot gait planning and control. For the quadruped robot driven by pneumatic muscles, the single-leg kinematic model is established based on Denavit-Hartenberg (DH) parameters. Kimura oscillator is used to design the central pattern generator (CPG) network of the quadruped robot gait, and the mapping among oscillator outputs and joint angles is improved. The cycloid function is used to plan the foot-end trajectory. Based on biological neural reflex mechanism and virtual model control (VMC), an adaptive gait controller for gully terrain is presented by taking the swing phase of limbs and the touchdown information of the feet as state switching conditions. Adams and MATLAB co-simulation platform and physical prototype test platform are set up to verify the gait controller. Simulation and experiment show that the improved CPG gait network can reduce the coupling between gait parameters, and the amplitude and phase of the generated signal are stable. The gait control controller based on CPG and VMC can be used to realize the diagonal gait motion of robot and gully crossing with a width of 2.50 times more than the width of the robot's foot.Key

Key words: quadrupedrobot, centralpatterngenerator, pneumaticmuscle, virtualmodelcontrol, gullyterrain

CLC Number:

TP242.3

ZHANG Yun，GUO Zhen-wu，CHEN Di-jian，WANG Bin-rui. Gait Control of Quadruped Robot Driven by Pneumatic Muscle Based on Kimura Oscillator and Virtual Model[J]. Acta Armamentarii, 2018, 39(7): 1411-1418.

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第39卷
第7期2018 年7月兵工学报ACTA
ARMAMENTARIIVol.39No.7Jul.2018

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