Six-degree-of-freedom parallel self-stabilization platform for quadruped robot and control system

Abstract

The invention relates to the technical field of mobile robot motion control, and particularly discloses a six-degree-of-freedom parallel self-stabilization platform for a quadruped robot and a control system.The self-stabilization platform comprises a static platform installed on the back of the robot and a movable platform used for bearing loads; and the driving branch chains are uniformly distributed and connected between the two groups in the circumferential direction. And each group of branched chains comprises a driving device on the static platform, a steering engine arm connected with the driving device, a driving connecting rod and a driven connecting rod which form a closed-loop structure through spherical hinges so as to drive the movable platform to realize six-degree-of-freedom movement. The platform is flat and compact in structure, can be directly and rigidly installed on the back of the robot, reduces the gravity center of an additional load, avoids damage to self motion balance of the quadruped robot, has the characteristics of high rigidity, high bearing capacity and light weight, and is specially designed for optimization of the back space of the mobile robot.

Description

Technical Field

[0001] This invention relates to the field of motion control technology for mobile robots, specifically to a six-degree-of-freedom parallel self-stabilizing platform and control system for quadruped robots. Background Technology

[0002] With the widespread application of quadruped robots in complex scenarios such as field surveying, disaster relief, logistics transportation, and mobile inspection, the requirements for operational stability of their onboard payloads (such as gimbal cameras, lidar, high-precision instruments, or liquid samples) are becoming increasingly prominent. However, existing technologies still have shortcomings in dealing with large-scale posture disturbances caused by robot movement: passive damping mechanisms (such as rubber shock absorbers or spring damping systems) mainly absorb high-frequency micro-vibrations and have limited ability to compensate for the inherent low-frequency, large-scale posture tilts (such as pitching when climbing, turning, and rolling) during walking; although serial three-axis gimbals are often used for stabilization, their cantilever structure has weak rigidity, and multi-axis serial connection also raises the overall center of gravity, which is not conducive to quadruped robots maintaining motion balance; in addition, traditional industrial-grade six-degree-of-freedom parallel platforms are often bulky and rely on host computer control, making it difficult to directly transplant them into the limited space on the back of a quadruped robot.

[0003] During the movement of a quadruped robot, the body generates complex six-degree-of-freedom pose disturbances, especially pitch and roll. If the load platform is only fixedly mounted or uses simple passive vibration damping, it will be difficult to maintain the load's horizontal posture, leading to image blurring, data anomalies, or cargo spillage. Although some research has used parallel mechanisms for vibration isolation, there is currently a lack of a lightweight active stabilization solution specifically designed for the quadruped robot's back space, integrating embedded control, and decoupling it from the robot's body motion. Specifically, a complete technical solution is yet to be proposed, which involves miniaturizing the six-degree-of-freedom Stewart platform, adapting it to the quadruped robot's back, using a low-cost controller (such as ESP32) combined with inverse kinematics algorithms, and achieving full closed-loop active stabilization through the collaboration of mechanical and control systems.

[0004] Therefore, there is an urgent need for a back active stabilization platform system that is compact, has high rigidity, fast response, and can adapt to the violent motion environment of quadruped robots. Summary of the Invention

[0005] To achieve the objective of this invention, this application provides a six-degree-of-freedom parallel self-stabilizing platform for quadruped robots, characterized in that it comprises: A static platform is mounted on the back of the quadruped robot; A moving platform, arranged parallel to the static platform, is used to bear the load; The driving chain consists of multiple sets, evenly distributed circumferentially between the static platform and the moving platform, and is used to drive the moving platform to perform six degrees of freedom motion relative to the static platform; Each group of driving branches includes: The drive unit is fixedly installed on the stationary platform; A servo arm is mounted on the output end of the drive device; A drive linkage, one end of which is connected to the free end of the servo arm; The driven link has one end hinged to the other end of the driving link via a lower ball joint, and the other end of the driven link is hinged to the moving platform via an upper ball joint.

[0006] In some specific embodiments, the static platform consists of a first lower platform and a second lower platform arranged vertically. The first lower platform is installed on the back of the quadruped robot via a fixed connector; The drive devices are all installed between the first lower platform and the second lower platform.

[0007] In some specific embodiments, a controller mounting component is also included, which is fixed to the second lower platform for mounting an embedded controller that controls the drive device.

[0008] In some specific embodiments, the moving platform is provided with sensor mounting components for mounting inertial measurement units.

[0009] To achieve the same inventive objective, this application also provides a control system for a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot, applied to the platform described in any of the above specific embodiments, characterized in that it includes: The perception module is used to acquire the motion posture data of the quadruped robot body in real time; The main control module, located inside the quadruped robot, is used to calculate the target deflection angles of each of the multiple drive devices required to maintain the target posture of the moving platform based on the motion posture data. The drive control module is communicatively connected to the main control module and is used to receive the target deflection angle and generate corresponding multi-channel PWM drive signals. The execution module includes multiple drive devices for rotating in response to the PWM drive signal, thereby driving the moving platform to move.

[0010] In some specific embodiments, the process by which the main control module calculates the target deflection angle includes attitude compensation calculation: Let the base coordinate system be established. Fixed to the static platform, platform coordinate system Fixed to the moving platform, world coordinate system For ground inertial reference frame; Obtain the rotation matrix of the current base coordinate system relative to the world coordinate system from the bottom layer of the quadruped robot. ; To ensure the moving platform remains horizontal in the world coordinate system, the rotation matrix of the moving platform relative to the world coordinate system must be satisfied. ,in It is an identity matrix; and ,in Let be the rotation matrix of the moving platform relative to the base coordinate system; Therefore, the relative rotation compensation matrix required by the moving platform to compensate for the robot's motion is calculated as follows: .

[0011] In some specific embodiments, the main control module is further configured to perform inverse kinematics calculations: According to the rotation matrix and the target position of the center of the moving platform in the base coordinate system. Calculate the first dynamic platform The target coordinates of the upper ball joint in the base coordinate system ,in These are the fixed coordinates of the hinge point in the platform coordinate system; Based on the geometric constraints of the i-th driving branch, the target deflection angle of the driving device is calculated. Where L, M, and N are the coordinates of the target. servo rotation center coordinates The parameters that determine the length 'a' of the servo arm and the length 's' of the driven link.

[0012] In some specific embodiments, the control flow executed by the main control module includes: Low-pass filtering is applied to the body posture data obtained from the bottom layer of the quadruped robot. The deviation between the filtered attitude data and the target attitude is calculated, and the attitude correction is calculated using a proportional-integral-derivative (PID) controller. Substituting the attitude correction into the inverse kinematics model, the target deflection angles of the six drive devices are calculated. The target deflection angle is mapped to a PWM pulse width value and sent to the drive control module; The drive control module parses the received PWM pulse width value and outputs six PWM signals to drive the drive device to operate.

[0013] In some specific embodiments, the main control module is an onboard computer installed inside the quadruped robot, and the drive control module is a microcontroller such as ESP32. The two communicate with each other through communication interfaces such as USB serial ports.

[0014] In some specific embodiments, the main control module obtains the body posture data by calling the software development kit (SDK) interface of the quadruped robot.

[0015] The six-degree-of-freedom parallel platform of this invention adopts a closed-loop mechanical structure, which has inherent high rigidity and high load-bearing capacity. Its overall design is flat and can be directly and rigidly mounted on the back of the robot through a static platform, which significantly reduces the center of gravity of the additional load, avoids disrupting the motion balance of the quadruped robot, and achieves a compact and lightweight integration optimized for the back space of mobile robots.

[0016] The control system of this invention directly acquires and calculates the robot's posture data in real time, driving a parallel platform to perform active compensation. This system integrates feedforward and feedback control, offering a fast response speed and effectively counteracting pitch and roll disturbances caused by actions such as climbing and turning. This ensures the load maintains a highly stable posture even in complex motion environments, providing a reliable guarantee for high-precision operations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot, provided as an embodiment of the present invention; Figure 2 A platform coordinate system definition diagram provided for one embodiment of the present invention; Figure 3 A top view of a platform provided in one embodiment of the present invention; Figure 4 A flowchart of a six-degree-of-freedom parallel self-stabilizing platform control system for a quadruped robot provided in one embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the solution of the servo arm angle relationship according to an embodiment of the present invention.

[0019] The components are: 1. Quadruped robot; 2. Fixed connector; 3. First lower platform; 4. Drive unit; 5. Lower ball joint; 6. Drive link; 7. Servo arm; 8. Drive link; 9. Upper ball joint; 10. Moving platform; 11. Sensor mounting component; 12. Controller mounting component; 13. Second lower platform. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar symbols denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0022] Example 1 One embodiment of the present invention provides a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot, such as... Figure 1 As shown, the platform is mounted on the back of the quadruped robot 1. Its core components include a static platform serving as a fixed base, a dynamic platform 10 for bearing the load, and six sets of drive chains connecting the two. The static platform is securely mounted to the robot's back via specially designed rigid connecting parts 2, ensuring seamless motion transmission and reliable integration. The dynamic platform 10 is parallel to the static platform and connected by six circumferentially distributed drive chains, forming a Stewart parallel mechanism. This closed-loop parallel structure gives the platform extremely high rigidity and load-bearing capacity, while its compact overall structure effectively prevents excessive raising of the robot's center of gravity due to added loads, ensuring the robot's motion stability.

[0023] Each drive chain is independently driven and specifically includes a drive unit 4 fixed to the static platform, a servo arm 7 mounted on the output shaft of the drive unit 4, a drive link 6 connected at one end to the free end of the servo arm 7, and a driven link 8 serving as the main support. The two ends of the driven link 8 are connected to the drive link 6 and the moving platform 10 via a lower ball joint 5 and an upper ball joint 9, respectively. This design, combining servo drive with ball joint connection, achieves low cost and fast response while ensuring that the moving platform 10 can perform flexible six-degree-of-freedom motion compensation in space.

[0024] To further optimize the structure, the static platform adopts a layered design consisting of a first lower platform 3 and a second lower platform 13. The first lower platform 3 is rigidly connected to the robot's back via a fixed connector 2; the second lower platform 13 sits above it, forming an installation space where all drive units 4 are centrally mounted. This design significantly enhances overall rigidity, makes the structure more compact, and facilitates cable management, achieving lightweight and miniaturization adaptation for the limited back space of the quadruped robot 1. Furthermore, a controller mounting bracket 12 is fixed on the second lower platform 13 for mounting embedded microcontrollers such as the ESP32, forming a distributed control architecture that collaborates with the robot's onboard computer, thereby reusing the robot's powerful computing capabilities and reducing local control power consumption. The moving platform 10 is equipped with a sensor mounting bracket 11 for mounting an inertial measurement unit, providing data for high-precision closed-loop feedback control, further eliminating steady-state errors and improving stability.

[0025] In summary, this embodiment, through a high-rigidity parallel mechanism, a reliable rigid connection interface, cost-optimized servo drive, a compact hierarchical platform design, and easily integrated control and sensing modules, collectively achieves a back-end active stabilization platform that effectively counteracts the motion turbulence of the quadruped robot 1 and maintains stable load posture. Example 2 One embodiment of the present invention provides a control system for a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot 1, applied to the platform of the above-described specific embodiment, comprising: The sensing module is used to acquire the motion posture data of the quadruped robot 1 in real time; The main control module, located inside the quadruped robot 1, is used to calculate the target deflection angles of the multiple drive devices 4 required to maintain the target posture of the moving platform 10 based on the motion posture data. The drive control module is communicatively connected to the main control module and is used to receive the target deflection angle and generate corresponding multi-channel PWM drive signals. The execution module includes multiple drive devices 4, which rotate in response to the PWM drive signal to drive the moving platform 10 to move.

[0026] This system adopts a distributed collaborative control architecture, such as Figure 4As shown, the main control module is a high-performance onboard computer (such as a Jetson series) integrated inside the quadruped robot 1, and the drive control module is a low-cost microcontroller such as an ESP32. The two communicate via communication interfaces such as USB serial ports. This architecture reuses the robot's powerful computing capabilities to run the core algorithm, while the lower-level machine is only responsible for signal driving, thereby significantly reducing hardware costs and system power consumption while ensuring control performance. The core data source of the perception module is the robot's IMU data obtained by directly calling the underlying software development kit (SDK) interface of the quadruped robot 1. Although an IMU sensor is installed on the sensor mounting component 11 of the motion platform 10, it is mainly used for possible closed-loop verification or auxiliary monitoring, and is not the core feedback source of the main control loop.

[0027] This feedforward control method based on the robot's state can achieve zero-delay compensation. That is, the control system can start the calculation and drive simultaneously the instant the robot's torso tilts, which greatly improves the accuracy of dynamic response and effectively alleviates the problems of image blurring, data failure or liquid spillage of the load from the root.

[0028] In one specific embodiment of the present invention, the process by which the main control module calculates the target deflection angle includes attitude compensation calculation, such as... Figure 2 and Figure 3 As shown: Let the base coordinate system be established. The static platform is fixed to the back of the robot, and the platform coordinate system is... Fixed to the moving platform 10, world coordinate system The coordinate system is a ground-based inertial reference frame, with its Z-axis pointing upwards along the direction of gravity. This coordinate system serves as an absolute reference for determining whether the moving platform 10 has reached a horizontal state.

[0029] In terms of attitude (rotation) control, it is necessary to ensure that the moving platform 10 is absolutely horizontal in space. This means that no matter how the quadruped robot 1 moves, the attitude of the coordinate system of the moving platform 10 relative to the world coordinate system should remain constant, that is, its roll and pitch angles should always be zero. Since the attitude of the base coordinate system fixed to the robot's back (measured in real time by the onboard IMU) is constantly changing, the moving platform 10 needs to perform a reverse rotational motion relative to the base coordinate system for real-time compensation.

[0030] In terms of position (translation) control, due to the physical travel limitations of the parallel mechanism, the platform cannot completely offset the horizontal (X, Y axis) displacement of the robot body. Therefore, the target position of the moving platform 10 in the base coordinate system is set as follows: the offset in the X and Y axis directions is always zero, and a preset working height H is maintained only in the Z axis direction. This strategy can achieve dynamic stability of the moving platform 10 without exceeding the range of motion of the mechanism.

[0031] The control objective is to keep the moving platform 10 horizontally stationary in the world coordinate system, i.e., its rotation matrix relative to the world coordinate system. For the target identity matrix The control module directly obtains the rotation matrix of the current base coordinate system relative to the world coordinate system by calling the software development kit (SDK) interface of the quadruped robot 1. .

[0032] According to the chain rule of rotation matrices It can be deduced that the rotation compensation matrix of the motion platform 10 relative to the base coordinate system required to compensate for the robot body motion is: This calculation forms the core of the system's high-speed feedforward control.

[0033] In one specific embodiment of the present invention, the process of the main control module calculating the target deflection angle further includes inverse kinematics calculation: First, according to the rotation compensation matrix and the target position of the center of the moving platform 10 in the base coordinate system. (in (For the static height of the platform), calculate the 10th height of the dynamic platform. The target coordinates of the upper ball joint hinge point in the base coordinate system ,in These are the fixed coordinates of the hinge point in the platform coordinate system.

[0034] like Figure 5 As shown: Based on the first The rotation angle is calculated using the geometric model of each drive branch. The rotation center point of the output shaft of drive unit 4 is known. coordinates The ball joint hinge point on the moving platform 10 is fixed and known in the base coordinate system. coordinates Fixed in the platform coordinate system, the new coordinates of the moving platform 10 in the base coordinate system when its pose changes need to be calculated from the target pose, which is the input of inverse kinematics. The coordinates of the end point Ai of the servo arm 7. This changes as the servo motor rotates. In addition, the mechanical parameters include: the length 'a' of the servo arm 7, the length 's' of the driven link 8, and the mounting azimuth angle of the drive unit 4. (Relative to the X-axis of the base coordinate system). The unknown quantity to be solved is the rotation angle of servo arm 7. .

[0035] because With coordinates fixed, it is possible to Coordinates are represented in the following form: According to the Pythagorean theorem and The coordinates can be used to obtain the servo arm length a, the virtual link length l, and the actual link length s, as shown in the following expressions: Because of the above formula All parameters are known. By eliminating the unknowns and simplifying the above expression, we can obtain: set up: We can obtain: Based on the transformations of trigonometric functions, we can obtain: The servo motor angle can be obtained by solving the relationship between the above formulas. : Where L, M, and N are the coordinates of the target. servo rotation center coordinates The parameters that determine the length a of the servo arm (7) and the length s of the driven link (8).

[0036] In one specific embodiment of the present invention, the control flow executed by the main control module includes: First, the raw body posture data obtained from the underlying SDK of the quadruped robot 1 is subjected to low-pass filtering to suppress noise; Subsequently, the deviation between the filtered attitude data and the target attitude (horizontal) is calculated, and the precise attitude correction amount is calculated through a proportional, integral, and derivative (PID) controller. Next, the attitude correction amount is substituted into the aforementioned inverse kinematics model, and the target deflection angle αi of each of the six driving devices is calculated iteratively, and the results are subjected to amplitude limiting processing. Then, the target deflection angle is mapped to the corresponding PWM signal pulse width value; Finally, the PWM pulse width data is sent to the drive control module via a communication interface (such as a USB serial port); The drive control module parses the received PWM pulse width value and generates six independent PWM signal outputs to drive the drive device 4 to perform corresponding rotations, thereby completing pose compensation through parallel branch drive platform 10.

[0037] In one specific embodiment of the present invention, the main control module is a high-performance onboard computer (such as the Jetson series) installed inside the quadruped robot 1, and the drive control module is a microcontroller such as the ESP32. The two communicate with each other through communication interfaces such as USB serial ports. This distributed architecture of "high-performance main control + low-cost drive" effectively reduces system hardware costs and overall power consumption while ensuring the real-time operation of complex algorithms.

[0038] In a specific embodiment of the present invention, the main control module obtains the body posture data by calling the software development kit (SDK) interface of the quadruped robot 1, thereby realizing high-frequency, low-latency feedforward signal input. Combined with the feedback signal of the inertial measurement unit (IMU) on the moving platform 10, it together constitutes a feedforward-feedback fusion control system with fast response and high precision.

[0039] Example 3 To verify the effectiveness of this structure, a physical prototype was constructed. The prototype parameters are shown in the table below. Therefore, by setting the hinge point distribution radii of the static platform and the moving platform 10 to 83.07 mm and 59.16 mm respectively, and coordinating with a 35.0 mm servo arm 7 and a 117.5 mm driven link 8, this design constructs a reasonable and efficient kinematic workspace for the system at an initial platform height of 117 mm. This geometric configuration ensures that the required rotation angle range of each drive device 4 is within its efficient range when the moving platform 10 compensates for the typical swaying posture of a quadruped robot, thus balancing response speed and compensation amplitude without excessively increasing the size of the mechanism. Simultaneously, the matching design of the servo's initial neutral position (90°) and the platform's initial height ensures that the platform is in a force-balanced optimal position when the robot is stationary, effectively reducing static energy consumption and providing a symmetrical stroke space for bidirectional motion. This achieves a balance between high rigidity, fast response, and low power consumption, improving the overall performance of the stable platform.

[0040] In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "a specific embodiment" or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot, characterized in that, include: A static platform is installed on the back of the quadruped robot (1); The moving platform (10) is arranged parallel to the static platform and is used to bear the load; The driving chain consists of multiple sets, which are evenly distributed circumferentially between the static platform and the moving platform (10) to drive the moving platform (10) to perform six degrees of freedom motion relative to the static platform; Each group of driving branches includes: The drive unit (4) is fixedly installed on the static platform; Servo arm (7) is installed at the output end of the drive device (4); Drive link (6), one end of which is connected to the free end of the servo arm (7); The driven link (8) has one end hinged to the other end of the driving link (6) via a lower ball joint (5), and the other end of the driven link (8) is hinged to the moving platform (10) via an upper ball joint (9).

2. The six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot according to claim 1, characterized in that, The static platform is composed of a first lower platform (3) and a second lower platform (13) arranged vertically. The first lower platform (3) is installed on the back of the quadruped robot (1) via a fixed connector (2); The drive devices (4) are all installed between the first lower platform (3) and the second lower platform (13).

3. The six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot according to claim 2, characterized in that, It also includes a controller mounting component (12), which is fixed on the second lower platform (13) for mounting an embedded controller that controls the drive device (4).

4. The six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot according to claim 1, characterized in that, The moving platform (10) is provided with a sensor mounting component (11) for mounting an inertial measurement unit.

5. A control system for a six-DOF parallel self-stabilizing platform for a quadruped robot, applied to the platform as described in any one of claims 1-4, characterized in that, include: The perception module is used to acquire the motion posture data of the quadruped robot body in real time; The main control module is located inside the quadruped robot and is used to calculate the target deflection angles of the multiple drive devices (4) required to keep the moving platform (10) in the target posture based on the motion posture data. The drive control module is communicatively connected to the main control module and is used to receive the target deflection angle and generate corresponding multi-channel PWM drive signals. The execution module includes multiple drive devices (4) for rotating in response to the PWM drive signal and driving the moving platform (10) to move.

6. The control system for a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot according to claim 5, characterized in that, The process by which the main control module calculates the target deflection angle includes attitude compensation calculation: Let the base coordinate system be established. Fixed to the static platform, platform coordinate system Fixed to the moving platform (10), world coordinate system For the ground inertial reference frame; Obtain the rotation matrix of the current base coordinate system relative to the world coordinate system from the bottom layer of the quadruped robot (1). ; To keep the moving platform (10) horizontal in the world coordinate system, the rotation matrix of the moving platform relative to the world coordinate system must be satisfied. ,in It is an identity matrix; and ,in The rotation matrix of the moving platform (10) relative to the base coordinate system; Therefore, the relative rotation compensation matrix required by the moving platform (10) to compensate for the robot's motion is calculated as follows: .

7. The control system for a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot according to claim 6, characterized in that, The main control module is further configured to perform inverse kinematics calculations: According to the rotation matrix and the target position of the center of the moving platform (10) in the base coordinate system. Calculate the first step of the moving platform (10). The target coordinates of the upper ball joint (9) in the base coordinate system ,in The fixed coordinates of the hinge point of the upper ball joint (9) in the platform coordinate system; Based on the geometric constraints of the i-th driving branch, the target deflection angle of the driving device (4) is calculated. Where L, M, and N are the coordinates of the target. servo rotation center coordinates The parameters that determine the length a of the servo arm (7) and the length s of the driven link (8).

8. The control system for a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot according to claim 5, characterized in that, The control flow executed by the main control module includes: Low-pass filtering is applied to the body posture data obtained from the bottom layer of the quadruped robot. The deviation between the filtered attitude data and the target attitude is calculated, and the attitude correction is calculated using a proportional, integral, and derivative controller. Substituting the attitude correction into the inverse kinematics model, the target deflection angles of the six drive devices (4) are calculated. The target deflection angle is mapped to a PWM pulse width value and sent to the drive control module; The drive control module parses the received PWM pulse width value and outputs six PWM signals to drive the drive device (4) to operate.

9. The control system for a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot according to claim 5, characterized in that, The main control module is the onboard computer inside the quadruped robot, and the drive control module is an ESP32 microcontroller. The two communicate with each other via a USB serial communication interface.

10. The control system for a six-degree-of-freedom parallel self-stabilizing platform for a quadruped robot according to claim 5, characterized in that, The main control module obtains the body posture data by calling the software development kit (SDK) interface of the quadruped robot (1).

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