类豹型四足机器人高速运动及其控制方法研究-机械电子工程专业毕业论文.docxVIP

Abstract Abstract 万方数据 万方数据 Abstract The locomotion characteristics of flexible, stable, and non-continuous support make the quadruped robot capable on many tasks which wheeled robots could not be done, such as the unknown unstructured environments and excellent ability to adapt to agile motion characteristics. The quadruped robot research is always a hot topic in biomimetic robot research. However, within the further research on the biomimetic robot, the quadruped robot research branches to different ways, adaptability and speed. Further because the large force and the short contact time, the highly nonlinear and the fast switching, make the higher requirements and challenges to the controller. Research on this direction will improve the bionic analysis, robot dynamics, and many other aspects of the research. The work on this area could have a good application in the military, industrial, life and other aspects. In this paper, we make cheetah as the research object. Through physiological and morphological analysis, the robot design was absorbed into a large number of bionic elements. Using antagonistic multi-joint legs model, we built a musculoskeletal cheetah quadruped robot system. The research on the ultra high speed running departed into two parts: One, using a simplified model with compliant legs, researches and analysis the use of hip torque and angle adjustment to control the speed and torso attitude; Other, utilizing the multi-joint leg model with muscle characters, investigates the nerve stimulation on muscles and joint flexible driven to develop the control method of multi-joint locomotion. Combining the research of body movement and leg movement control, a bionic control strategy was built for the cheetah robot high speed running. The simulation analysis and the experimental tests showed the validity of the control and the feasibility of robotic system design. Based on the analysis of the characteristics of biological motion running, a principal simplifi