Multi-constraint spatial coupling for the body joint quadruped robot and the CPG control method on rough terrain

Area of Science:

• Robotics
• Control Systems
• Mechanical Engineering

Background:

• Quadruped robots with active body joints offer enhanced environmental adaptability for tasks like rescue and exploration.
• However, maintaining stability during locomotion on rough terrain remains a significant challenge for these robots.
• Existing control methods struggle to guarantee consistent stability in complex, uneven environments.

Purpose of the Study:

• To develop an advanced gait control method for body-joint quadruped robots.
• To improve the stability and adaptability of quadruped robots operating in challenging terrains.
• To address the limitations of current control strategies in ensuring robust locomotion.

Main Methods:

• Proposed a multi-constraint spatial coupling (MCSC) algorithm to define a stable body workspace.
• Developed a multi-layer central pattern generator (CPG) model using Hopf oscillators for gait generation and switching (walk, trot).
• Implemented a reflex adjustment strategy based on the MCSC workspace for real-time body posture modification.

Main Results:

• The MCSC algorithm successfully defined a stable body workspace for the quadruped robot.
• The CPG model effectively generated and switched between walk and trot gaits.
• The reflex adjustment strategy reduced swing leg offset and body attitude angle fluctuations.
• The developed robot prototype demonstrated stable locomotion on varied terrains.

Conclusions:

• The proposed MCSC-based gait control method significantly enhances the stability of body-joint quadruped robots.
• Dynamic body posture modification is crucial for maintaining stability in complex environments.
• This research provides a valuable reference for controlling quadruped robots in challenging operational settings.