Research on the Self-Stability Control and Gait Planning of Quadruped Robot Based on IMU

摘要

In order to realize the motion stability and attitude controllability of the quadruped robot in the complex ground environment, a multi-scene stability control system based on inertial measurement unit (IMU) is proposed in this paper. The inverse operation formula of the joint angle is derived, and the posture control method based on nautical angles is adopted to improve the motion stability of the quadruped robot and the controllability of the body-horizontal angle, so as to meet the requirements of different scenarios such as transportation and reconnaissance. To verify the effectiveness of the presented system, MATLAB and v-rep are used to co-simulate the control method, and a 12 DOF quadruped robot is fabricated to test the algorithm. The simulation and measurement results show that the system can realize the relative stability control with great margin and the absolute stability control with high precision.