The effect of head movement on the bounding gait of a quadruped robot with an active spine

摘要

It is a common phenomenon in the movement of the quadruped mammals accompanied with head swings. Inspired by this, this article attempts to add head motion to the bounding gait of a quadruped robot. According to the theoretical analysis, there are two main functions of the head. First, the head can realize the active control of the center of mass position of the robot, which is of great significance to the stable motion of the robot. Second, the swing of the head plays a role in regulating the pitch angle of the torso and improves the coordination and stability of the motion. A simplified quadruped robot model with a head and spine joint is established and analyzed theoretically. The regularity of head movement in periodic bounding gait is summarized. Through simulation and experiment, we confirm the two roles of the head in the bounding gait of a quadruped robot.