A Novel Multi-configuration Quadruped Robot with Redundant DOFs and Its Application Scenario Analysis

摘要

To improve the adaptability and robustness of the quadruped robot to the environment, we design a novel multi-configuration quadruped robot with redundant degree-of-freedoms (DOFs). Compared with traditional quadruped robots, the presented robot can adapt to rugged terrain with optimal leg configurations. The quadruped robot can use insect-like or reptile-like configurations to pass through rough terrain. The transformation between different configurations is realized by redundant DOFs. The quadruped robot uses dynamic gait and optimal configuration to pass through complex terrain, instead of traditional crawling gait. To solve the redundant inverse kinematics, a simplified jacobian pseudoinverse (JP) algorithm based on quadratic integral programming is used. The algorithm based on spring loaded inverted pendulum (SLIP) is used to control the motion of the quadruped robot in various configurations. The multi-configuration motion of the robot is verified by dynamic simulation software Webots. The optimal configuration of the quadruped robot is explored by comparing the performance of each configuration in multiple scenarios.