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CPG Based Motion Control of a Quadruped Robot Walking on Rough Terrain

Author: ZengXiangYu
Tutor: EMingCheng
School: Beijing Jiaotong University
Course: Mechanical Manufacturing and Automation
Keywords: Quadruped robot Motion Control Central pattern generator Complex terrain Reflection
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 196
Quote: 0
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Abstract


Foot robot motion control method based on kinetic modeling is very complex , it is not conducive to the robot to achieve fast and stable movement , it is difficult to achieve the adaptability of unknown unstructured environment . As the research object of this thesis quadruped bionic robot motion control mechanism of vertebrate rhythm simulation , a fast and stable walking ; reflected through biological modeling , and motor function in the gully , stairs and other complex terrain conditions . Papers to complete the work as follows : to build a four-legged robot experiment platform , including the four-legged robot prototype , master-slave motion control system ( hardware systems , software programs ) , the man-machine interface ; sine function to establish a central mode occurs (CPG) model , used to control the basic rhythm of the quadruped robot gait as a quadruped robot trajectory planning level walking quadruped robot , and using the the counterweight law attitude adjustment Act , to solve the course of the campaign the hind legs mopping ; reflex movement against ravines, the two complex unstructured stepped terrain , imitating animals , the establishment of a Ta Kong stepping reflex and Takong - to adjust reflection model by detecting robot foot end touchdown trunk pitch angle mutations trigger reflection through the coordinated motion of four legs , quickly adjust robot posture , resist the force of inertia caused by transient instability , the adaptability of quadruped robot on unknown ravines, topographic steps . Experimental results show that : the robot plains at speeds up to 0.2m / s, or 1 / 2 per second length , 1.2 times the span across the gully , walked down the stairs of 0.4 times the length of the leg , and validation of the control method and model effective sex .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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