Dynamic gait analysis of a multi-functional robot with bionic springy legs

摘要

Developing efficient movement gaits for quadruped robots has intrigued investigators for years. Trot gait, pace gait, as fast and stable dynamic locomotion gaits, have been widely used in robot control. Therefore, the purpose of this paper is to control an amphibious spherical quadruped robot to achieve these two gaits. Firstly, this paper references the trot gait and pace gait pattern of quadruped creature and identifies the order and the law of quadruped bionic robot. Secondly, based on the virtual leg techniques and the Spring-Loaded Inverted Pendulum (SLIP) model, a simplified dynamic analysis model is established, and the relationship between force and motion is obtained by using Lagrange dynamics equation. Thirdly, by adjusting the force and moment of the joint of robot, continuous and stable trot gait and pace gait motion are simulated in ADAMS platform. Finally, a comparison of theoretical calculations and simulation results demonstrated the robot's potential and its feasibility of trot gait and pace gait.