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Abstract
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In this paper, a gait parameters planning system of quadruped robot based on virtual model controller and fuzzy neural network with real-time parameters self-calibrating function is proposed. The results of simulation experiment and prototype test which can also be found in the attached video show that the gait parameter planning system can accurately detect gait parameters flaws and make accurate parameter adjustment decisions under different conditions. On the prototype, the parameter set through the gait parameter planning system can make the speed reach a maximum of more than 1.5m/s, and root mean square of attitude vibration converges within 0.1rad, which greatly reduces the vertical impact on the rod set during the robot movement and improves the robot's movement smoothness.
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