Research on Bionic Foot Design and Climbing Strategy of Quadruped Robot

摘要

Abstract Aiming at the problem that it is difficult for a quadruped robot to climb a large Angle slope, the bionics principle of goat climbing was analyzed. A bionic goat hoofs structure and a foot-to-ground coupling climbing model were designed. A climbing strategy of lateral sloping on a large slope was proposed, and foot trajectory planning under this model was studied. This design can assist the quadruped robot to climb the specific rugged surface with large slope, By building a single leg control model, combining with the Simulink and Simpack co-simulation technology, the single leg bench 60° slope simulation test, simulation results show that this design can effectively improve the quadruped bionic robot for rugged terrain with large slope stability of slope surface support.