Quadruped Robot - XiaoTian

Keywords: Research Project, Deep Learning Locomotion Control, Control System, Mechatronics Design, Simulation to Real, pybullet

Tutor: Prof. Wei Zhang (SUSTech)

Members: Shenggao Li, Chunchu Zhu, Wenchun Lin

Introduction

Despite recent developments in quadruped robot technologies, mechanical design for high-speed dynamic locomotion is still challenging. A novel mechatronics quadruped robot design is proposed to improve existing design in parameter optimization. The main contributions of this work lie in the following four aspects: mechanical design of proprioceptive joint actuators, light leg structure, large rigidity fuselage frame and the structure of high bandwidth electronic control system. In the part of mechanical design, numerous parameters adjusting schemes such as finite element analysis, topology optimization, and linear programming have been developed in the literature to achieve optimal mechanical design. Robustness of the robot under extreme conditions such as falling and collision is tested by mechanical analysis of impact load. According to the conclusion of mechanical analysis, a carbon fiber leg with selective compliance is designed, which can effectively absorb the external impact and hence enhances reliability of general legged robots. In the part of fuselage design, inspired by the side girder chassis of off- road vehicle, a high rigidity box fuselage structure combining carbon fiber sheet and aluminum alloy is proposed. This structure makes full use of the mechanical properties of two different materials to simultaneously achieve high strength and light weigh properties of the fuselage. The distributed electronic control system lays the hardware foundation of high control bandwidth and high-speed operation of dynamic gait locomotion control of quadruped robots.