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International Journal of Control, Automation and Systems 15(6) (2017) 2819-2828 ISSN:1598-6446 eISSN:2005-4092 Implementation and Dynamic Gait Planning of a Quadruped Bionic Robot Song Yong, Chen Teng, Hao Yanzhe, and Wang Xiaoli* Abstract: This paper investigates dynamic gait planning optimization and balance control of quadruped robots under external disturbance forces. First, a platform of quadruped walking robot with fourteen active degrees of freedom is designed. Then, a forward kinematic model of joints is built for quadruped robots based on Denavit- Hartenberg(D-H) method. The inverse kinematic equations are solved to result in joint values when the desired position and orientation are specified. A dynamic gait planning algorithm is proposed and tested on the quadruped robot. The planning function is established to create some point-to-point trajectories. The angle values of the joints can be calculated by using the inverse kinematics equations for every moment. Considering the external distribution a balance control approach is proposed to stabilize the robot based on the information from the attitude sensors. The walking is stabilized by a feedback control that uses a three-axis acceleration sensor. Experiments have been performed on the quadruped robot. The results showed that the proposed methods work well in dynamic gait planning and external disturbances of a quadruped bionic robot. Keywords: Gait planning, inverse kinematics, kinematics, quaruped robot. 1. INTRODUCTION With the development of the intelligent robot, the con- trol strategy of the robots is becoming more and more complex [ 1 ]. The researchers will gain some inspirations from some biological models of the real world [ 2 ]. Bio- inspired robotics is to design a simpler and more effec- tive mechanism that are inspired by biological systems [ 3 ]. Different species of animals have their special movement patterns and intelligent modes. Therefore, the researcher can design mechanical structure by biological inspiration for motion planning and locomotion. In [ 4 ] a scheme of a typical stick insect leg with four functional segments was introduced. A model of CPG based on the oscillator de- scribing stick-slip induced vibrations was proposed. In [ 5 ] a low energy cost foot trajectory planning method was proposed to realize a constant velocity of the robot. The authors also introduced a gait generating method to de- crease the flow demand. In [ 6 ] the stable workspace of quadruped walking robot was discussed. The authors also proposed a geometric method of kinematic analysis. The intelligent modes can be targeted by machine learning and Manuscript received September 1, 2016; revised February 8, 2017; accepted April 28, 2017. Recommended by Associate Editor Sukho Park under the direction of Editor Hyun-Seok Yang. This work is supported by the National Natural Science Foundation of China (61573213, 61673245, 61473179, 61473174), Natural Science Foundation of Shandong Province (ZR2015PF009, ZR2014FM007), Shandong Province
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  • Spring '14
  • It, Dynamic Gait Planning, quadruped bionic robot

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