Stability study of quadruped robot based on foot trajectory improvement

• Published in: 2023 6th International Conference on Electronics Technology (ICET) pp. 1242 - 1247
• Main Authors: Liu, Zhenchong, Zhang, Yanran, Li, Yue, Xing, Bowen
• Format: Conference Proceeding
• Language: English
• Published: IEEE 12-05-2023
• Subjects: Attitude control; Force; gait planning; joint simulation; Machine control; Prototypes; quadruped robot; stability; Stability analysis; Trajectory; Trajectory tracking
• ISSN: 2768-6515
• DOI: 10.1109/ICET58434.2023.10212088

To design a small quadruped robot for security inspection and cruise and improve the body stability of the quadruped robot in the process of traveling, based on the principle of zero impact force, an optimized trajectory fused by compound cycloid and polynomial function is proposed, which is jointly simulated with the help of MATLAB/Simulink and Adams. According to the hierarchical control principle of trajectory tracking and fuselage attitude feedback, the whole machine control is realized, and the stability of the cruise quadruped robot is analyzed from the parameters such as foot end impact force, fuselage displacement, and attitude angle. The experimental results show that the optimized foot trajectory and hierarchical control principle can ensure the motion stability of the cruise robot, which lays a theoretical foundation for further prototype experiments.