Quadruped robot and gait planning method thereof

Abstract

The invention discloses a quadruped robot and a gait planning method thereof. The quadruped robot comprises a robotic trunk, wherein the upper part of the front end of the robotic trunk is connected with a robotic head through a robotic neck, and the lower part of the robotic trunk is connected with four legs of a first leg, a second leg, a third leg and a fourth leg; the first leg and the second leg are mounted at the front end of the robotic trunk, the third leg and the fourth leg are mounted at the rear end of the robotic trunk, and each leg comprises four parts of a shank part, a thigh part, a vertical rod part and a horizontal rod part which are sequentially connected from bottom to top; a control device is arranged on the trunk and used for controlling the robot to walk. The quadruped robot disclosed by the invention has the functions of walking smoothly and automatically avoiding obstacles.

Description

technical field [0001] The invention relates to a quadruped robot and a gait planning method thereof. Background technique [0002] Existing quadruped robots still have many defects, such as unstable walking and relatively single function, most of them can only walk on flat ground, have no ability to deal with external interference and avoid obstacles, and have four There are fewer legged robots. In addition, quadruped robots with load capacity are generally large in size and high in energy consumption. There will be a lot of troubles in design and debugging, which is not conducive to algorithm verification and parameter adjustment. Therefore, a small quadruped robot is designed to be convenient in the laboratory. Algorithm verification, which provides an efficient way for quadruped robot research. Contents of the invention [0003] The purpose of the present invention is exactly in order to solve the above problem, and a kind of quadruped robot and gait planning method ...

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Problems solved by technology

[0002] Existing quadruped robots still have many defects, such as unstable walking and relatively single function, most of them can only walk on flat ground, have no ability to deal with external interference and avoid obstacles, and have four Legged Robots Fewer

In addition, quadruped robots with load capacity are generally large in size and high in energy consumption. There will be a lot of troubles in design and debugging, which is not conducive to algorithm verification and parameter adjustment. Therefore, a small quadruped robot is designed to be convenient in the laboratory. Algorithm verification, which provides an efficient way for research on quadruped robots

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