An Analysis of Jumping Control Planning and Simulation for Quadruped Robots.

Through the analysis and study of quadruped jumping motion, we propose a jump control method based on kinematics and dynamics, In order to enhance the motion performance of the quadruped robot. Firstly, the mechanism of muscle action in the jumping process is analyzed to determine the leg joint and the topological structure of the fuselage, and the motion model of the quadruped robot is established using SolidWork. Then, the trajectory planning of the jumping process is carried out by segments, and the forward and inverse kinematics are analyzed with the help of D-H(Denavit-Hartenberg)coordinate transformation method, and the joint angle driving function is solved. Based on the Lagrange method and by the D’Alembert’s principle, the kinematic analysis of the jumping process is made, and the torque driving function is deduced.Finally, using the joint simulation of ADAMS and MATLAB, the consistency of theoretical trajectory planning and simulation results is compared, and the effectiveness, robustness and stability of control planning are verified, which provides a reference for the selection of follow-up control strategies.