In order to shorten the research and development cycle of quadruped robot, it is significant to solve the problem of single leg\nweight-bearing and obtain a smooth gait switching. Firstly, a leg structure with an antiparallelogram is proposed, which greatly\nenhances the strength and stiffness of the leg in this paper. Secondly, the Simulink-ADAMS cosimulation platform is built and the\nimproved Hopf oscillator is used in the control of robot. This control mode based on CPG realizes the walk and trot gait of\nquadruped robot. Thirdly, in order to solve the problems of breakpoints, phase-locked, and stopping of gait curve in the process of\ngait switching by directly replacing the gait matrix, the functional relationship between the right hind leg and duty cycle is\nintroduced to realize the smooth transition of gait curve. The simulation results show that the proposed algorithm can achieve a\nsmooth gait transformation within 4-6 second, which preliminarily proves the feasibility of the algorithm. Finally, the experimental\nplatform is built and the control algorithm is written into the controller to realize the specific gait of the robot, which\nproves the effectiveness of the proposed method.
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