Dissertation > Excellent graduate degree dissertation topics show

Study on Control of a Quadruped Biomimetic Robot Trot

Author: JiaLin
Tutor: WangLiPing
School: University of Electronic Science and Technology
Course: Mechanical Manufacturing and Automation
Keywords: Quadruped Robot Trot Gait Control
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 58
Quote: 0
Read: Download Dissertation

Abstract


Building robots that mimic living creatures has become a worldwide trend inrobotics research because biological systems provide many useful ideas concerningmodern engineering problems. Quadruped robot is a significant subfield of mobile robot.Since its capacity and stability is better than biped mobile robot, and at the same timethe structure is simpler than multi-legged robot, the research on it receives greaterattention of the world.Modeling, gait generation and control technology is the key problem of theresearch on quadruped robot and it’s important to improve the robot’s stability,movement speed and adaptability to the environment. At present, the main research ongait generation for quadruped robot is focused on the static gait. However, dynamic gaitis more advantage on improving the moving speed. Also because of such, in recentyears, more and more scholars become involved in the dynamic gait research. At thesame time, trotting gait, as the common type of dynamic gait, is becoming more valuedthan before.The paper focuses on the research of trotting gait planning of the high performancequadruped robot gait planning. The essential purpose is to achieve the movement of legsmotion planning of the quadruped robot, according to the parameters requirement ofdirection and velocity when trotting, complete the robot motion planning, and sendinstructions to the joints.Quadruped robot is a complicated system with many degrees of freedom. Thispaper, first of all, analyzed kinematics of swinging leg and support legs according to theprinciple of bionics and the kinematic characteristics of quadruped robot. Then find outthe velocity and acceleration calculation methods of the legs and body speed estimationalgorithm in the trot gait. In addition, in order to simplify the robot dynamics model andthe analysis calculation, the spring load inverted pendulum (SLIP) dynamiccharacteristics is set up, according to the running virtual leg and biologicalcharacteristics in trot gait motion process of quadruped robot. Thus, we can establishstability judgment rules of quadruped bionic robot with trot gait and control strategies on the basis of SLIP model, and an intelligent control algorithm to optimize the keyparameters. According to the above, we realized the quadruped robot trotting run insimulation environment.Finally, the real-time high-speed control system of quadruped robot is proposed.Control code is carried out in the real robot prototype experiments, achieved goodexpectation speed curve track and the attitude control of the robot; prove the correctnessof the theoretical analysis of the control system.

Related Dissertations

  1. Gait Planning of Legged Robot Based on Central Pattern Generator,TP242
  2. The Design of Quadruped Robot Based on2-UPS&UP Parallel Mechanism Leg,TP242
  3. Research on Quadruped Robot Steadily Walking Planning and Controlling Technology,TP242.2
  4. Biological-inspired Rhythmic Motion & Environmental Adaptability for Quadruped Robot,TP242
  5. Biomimetic Control and Behavior Evolution of Quadruped Robot,TP242
  6. Autonomous walking robot motion control and related research,TP242
  7. Mechanism Analysis and Gait Research on the Quadruped Imitating a Horse,TP242
  8. Study on Humanoid Gait Planning and Stability of Biped Robot,TP242
  9. Quadruped Walking Robot Modeling and Control Method,TP242
  10. Design of a Quadruped Robot with Parallel-serial Leg Mechanism and Gait Planning in Unstructured Environment,TP242
  11. The Effective of Varying Exercises on Health-related Quality of Life in Patients with Type 2 Diabetes,R587.1
  12. Based on Virtual Prototype Technology quadruped robot simulation,TP242
  13. The Design and Implementation of the quadruped bionic robot motion control system,TP242
  14. CNN achieve CPG theory and its robot gait controller,TP242
  15. The Configuration Research and Locomotion Control for the Modular Robot GZ-I,TP242
  16. Gait Planning and Simulation of Quadruped Robot,TP242
  17. Research on Key Techniques on the Straight Walking of Hexapod Robot,TP242
  18. The Dynamic Analysis and Simulation on a Type of Quadruped Robot,TP242
  19. Study on Modeling and Simulation of Static Walking of Quadruped Robot,TP242
  20. Control System Research and Software Designfor the Underwater Self-Reconfigurable Robot,U674.9

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile