基于复合摆线轨迹的四足机器人稳定性分析

To shorten the development cycle of quadruped robot and further improve its motion stability, the stability of quadruped robot under different gait periods was investigated based on compound cycloid trajectory. The structure design of quadruped robot was completed, and the kinematics model was established for kinematic analysis. The trajectory planning was carried out by the compound cycloid method, and the driving function of each joint was obtained by combining the kinematics model. The driving function was imported into the ADAMS model to set relevant constraints for dynamic simulation. The body turn angle was taken as the main performance evaluation index, and the stability of quadruped robot under different gait cycles was tested and analyzed by adjusting gait cycles appropriately. The proposed method was verified by physical prototype. The results show that when the gait period is 1.3 s, the maximum rotation angle of the body is decreased by 1.014°, and the fluctuation range of mass center is also decreased, which verifies that the stability of quadruped robot based on target trajectory can be further improved by adjusting the gait period appropriately.