Gait Planning and Stability Analysis of a Quadruped Robot with 2-DOF Parallel Hip and Spine Joints

doi:10.3969/j.issn.1000-1093.2020.06.016

Abstract

Abstract: A quadruped robot with 2-DOF parallel hip and spine joints is proposed to solve the problems of low carrying capacity and poor walking stability. A kinematics model of standing leg and swinging legs for quadruped robot is developed based on the analytic geometry and coordinate transformation methods, and the variable of driving joint is obtained by inversely solving a foot-end position. A gait planning method of straight walking gait, fixed-point turning gait and stair climbing gait is proposed for a quadruped robot without knee joint. Based on the kinematic equations and gait planning method, the transient stability margin curve and the change curve of barycenter height in the gait cycle were got through MATLAB simulation analysis. The results show that the quadruped robot has better stability. The rationality and effectiveness of the gait planning method is verified through the robot gait test. Key

Key words: quadrupedrobot, parallelhipjoint, gaitplanning, stability

CLC Number:

TP242.3

SANG Donghui， CHEN Yuan， GAO Jun. Gait Planning and Stability Analysis of a Quadruped Robot with 2-DOF Parallel Hip and Spine Joints[J]. Acta Armamentarii, 2020, 41(6): 1188-1200.

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第41卷第6期2020 年6月
兵工学报ACTA ARMAMENTARII
Vol.41No.6Jun.2020

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