A quadruped robot with 12-DOF parallel legs
- Deriving the Kinematics Model of a Quadruped Robot
- Deduced the relationship between the position of the foot end and the motor angle through forward and inverse kinematics.
- Differential the kinematic equation of the leg to obtain the Jacobian matrix, which is the relationship between the joint speed and the foot tip speed.
- Design Control Algorithm
- Use trigonometric functions and polynomial functions to plan the trajectory of the foot, and make the foot follow the trajectory through inverse kinematics
- Simulation development on the webots platform
- Realized on physical robot
- Develop based on ROS and deploy the code to NUC
- Adjust the parameters according to the actual situation
- Result:
- The robot helped the team win the “National Third Prize”.
