Research on gait generation and gait conversion of (2UPS-U) +R series-parallel hybrid wheel-legged quadruped robot

This paper proposes a gait control method considering lateral stability for a four-wheeled foot robot that can realize wheel-foot transformation to achieve foot-stable walking, uses the CPG gait generator to study the generation methods of different gait patterns of the robot, selects the Hopf oscillator to establish the whole CPG control network, and analyzes the relevant parameters in its mathematical model; To analyze the CPG output signal and gait generation strategy in terms of joint swing angle and foot-end coordinates, to model the CPG gait generator model using Simulink, to verify the Walk gait and Tort gait by numerical simulation; The lateral adjustment of the body is introduced into the motion control of the robot, the Walk gait, the Tort gait, and the transition strategy between gaits are simulated and verified. The trajectory of the foot end of the robot is analyzed during in situ rotation and turn-turn walking, and the CPG control network for in situ rotation and turn-turn walking is established and simulated to verify the correctness of gait generation. The gait generation and conversion strategy studied in this paper can meet the stability of the robot's walking, and at the same time, can be converted between gait according to the road conditions and the demand for travel speed, and also provides a high reference significance for the research of multiple gait control methods for quadruped robots.