The quadruped robots have a good prospect in substation inspection applications because of their stronger terrain adaptability. This paper focuses on the gait planning and motion control of small intelligent quadruped robots. Firstly, the mechanical structure design of a quadruped robot is completed based on SolidWorks software. Secondly, the kinematics of the designed quadruped robot is analyzed, and gait planning of the walk gait and the steering gait is designed. Finally, the experiments of the walk gait and the steering gait are completed on the physical platform of the quadruped robot designed in this paper. When the robot performs the walk gait, the average forward speed is 0.04 m/s. When the robot performs steering gait, the average steering speed is 9°/s. The experimental results show that the gait control method designed in this paper can achieve stable control of quadruped robot motion.
Research on gait planning and motion control of a small quadruped robot
Third International Conference on Control and Intelligent Robotics (ICCIR 2023) ; 2023 ; Sipsongpanna, China
Proc. SPIE ; 12940
2023-12-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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