The quadruped robot is an active field in the research of robots, which has merits of excellent environment adaptability and agile maneuverability. This research explores the gait control and the gait transition from the effectiveness and feasibility through simulations and experiments which are investigated on the platform composed of Pro/E, MSC.ADAMS and MATLAB, and the quadruped robot FROG-I (Four-legged Robot for Optimal Gaits) designed and built by our group. This research integrates the knee joints into the central pattern generator model by analyzing the knee motion and the meaning of the parameters. The model is composed of the neuron oscillators named Matsuoka. The central pattern generator can output various gaits and tune the stance phase and the swing phase during a period. The experiments of walking and trotting demonstrate that the knee joints and the hip joints are successfully integrated into the model. Based on the general form of the solution to the central pattern generator, this research proposes a quadruped locomotion controller. The proposed controller possesses several advantages by contrast to the central pattern generator: 1) its parameters have real meanings in physicals; 2) the designed controller keeps the merits of the central pattern generator and successfully solves the problem of the fixed phases, the non-zero start points, and the coupling between the parameters which exist in central pattern generator. The simulations and experiments based on the quadruped platforms demonstrate that the controller is superior to the central pattern generator in both gait control and gait transition. Addressing the robot whose leg has only two degrees of freedom (DOFs), this research explores several turning strategies, including altering the median values, changing the phase difference, and modifying the amplitude. The insight of these methods is breaking down the symmetries which exist during the process of the robot locomotion and rebuilding them. From the points of the median value, phase difference and amplitude in the sine functions, these turning methods are universal. Aiming to reduce the computation and implement compliant control of the quadruped, this research proposes a novel inverse dynamics control strategy based on the floating-base rigid body system for a quadruped robot. The control strategy includes forward kinematics, inverse kinematics, inverse dynamics algorithm, and trajectory generation. The kinematics model and t...
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