Multi-gait planning and dynamics analysis of quadruped bionic mobile robot inspired by turtle crawling and goat walking

doi:10.3785/j.issn.1006-754X.2024.03.181

Chinese Journal of Engineering Design

2024, Vol. 31

Issue (3): 309-318 DOI: 10.3785/j.issn.1006-754X.2024.03.181

Robotic and Mechanism Design

Multi-gait planning and dynamics analysis of quadruped bionic mobile robot inspired by turtle crawling and goat walking

Hongbin RUI(

),Tianci WANG,Longlin SHE(

),Kaiwen DUAN,Lei LI,Xuan GUO,Jiaxuan PENG

School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China

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Abstract

In order to solve the problems of slow movement, poor environmental adaptability and single gait of rescue robots, a quadruped bionic mobile robot was designed according to the physiological structure of turtle and goat. Firstly, according to the characteristics of turtle crawling on soft ground and goat's strong movement ability, two gaits imitating turtle crawling and goat walking were planned for the robot to adapt to different environments and improve the robot's movement performance. Then, the dynamics analysis for the robot outrigger was carried out, and the quantitative relationship between the robot joint torque and motion performance parameters was obtained by establishing a dynamics model. Finally, the feasibility of the robot's gait and the robot's adaptability to the environment were verified by simulation and prototype experiments. The results showed that the designed robot had stable structure and reasonable gait planning, which could adapt to different complex terrains. The research results can provide important reference for the design and development of bionic robots.

Key words： bionic mobile robot multi-gait planning dynamics

Received: 19 June 2023 Published: 27 June 2024

CLC:

TH 113

Corresponding Authors: Longlin SHE E-mail: Hongbin.rui@126.com;3518917365@qq.com

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Cite this article:

Hongbin RUI,Tianci WANG,Longlin SHE,Kaiwen DUAN,Lei LI,Xuan GUO,Jiaxuan PENG. Multi-gait planning and dynamics analysis of quadruped bionic mobile robot inspired by turtle crawling and goat walking. Chinese Journal of Engineering Design, 2024, 31(3): 309-318.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.181 OR https://www.zjujournals.com/gcsjxb/Y2024/V31/I3/309

受海龟爬行与山羊行走启发的四足仿生移动机器人多步态规划及动力学分析

为解决救援机器人运动速度慢、环境适应性差和步态单一等问题，参照海龟与山羊的生理结构，设计了一种四足仿生移动机器人。首先，根据海龟能在松软地面上爬行以及山羊运动能力强的特点，为机器人规划了仿海龟爬行和仿山羊行走两种步态以适应不同环境，提高了机器人的运动性能。然后，对机器人支腿进行了动力学分析，通过建立动力学模型来获取机器人关节扭矩与运动性能参数之间的定量关系。最后，通过仿真和样机实验来验证机器人步态的可行性以及机器人的环境适应能力。结果表明，所设计的机器人结构稳定，步态规划合理，可适应不同的复杂地形。研究结果可为仿生机器人的设计与开发提供重要参考。

关键词： 仿生移动机器人, 多步态规划, 动力学

Fig.1 Topology structure of robot imitating turtle

Fig.2 Topology structure of robot imitating goat

Fig.3 Topology structure of quadruped bionic mobile robot

Fig.4 Overall structure of quadruped bionic mobile robot

Table 1 Structural parameters of quadruped bionic mobile robot

Fig.5 Crawling gait of turtle in nature

Fig.6 Turtle-imitated crawling gait of quadruped bionic mobile robot

Fig.7 Walking gait of goat in nature

Fig.8 Goat-imitated walking gait of quadruped bionic mobile robot

Fig.9 Dynamics analysis model of outrigger

Fig.10 Technical route for simulation verification of outrigger dynamics model

Fig.11 Comparison of hip joint torque under goat-imitated walking gait

Fig.12 Comparison of knee joint torque under goat-imitated walking gait

Fig.13 Simulation result of turtle-imitated crawling gait of quadruped bionic mobile robot

Fig.14 Displacement curves of fuselage center of mass under turtle-imitated crawling gait

Fig.15 Velocity curves of fuselage center of mass under turtle-imitated crawling gait

Fig.16 Force on fuselage and foot end under turtle-imitated crawling gait

Fig.17 Change curve of rotation angle of each joint under turtle-imitated crawling gait

Fig.18 Simulation result of goat-imitated walking gait of quadruped bionic mobile robot

Fig.19 Displacement curves of fuselage center of mass under goat-imitated walking gait

Fig.20 Velocity curves of fuselage center of mass under goat-imitated walking gait

Fig.21 Change curve of rotation angle of each joint under goat-imitated walking gait

Fig.22 Turtle-imitated crawling experiment site of quadruped bionic mobile robot

Fig.23 Goat-imitated walking experiment site of quadruped bionic mobile robot

Fig.24 Pitch angle of fuselage under goat-imitated walking gait

Fig.25 Transverse roll angle of fuselage under goat-imitated walking gait

Fig.26 Lateral deflection angle of fuselage under goat-imitated walking gait


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