The Deviation Analysis of the Cylindrical Feet-end on Quadruped Walking Robot

The precise control of the feet-end is the key link to realize the functions of the robots. Through the forward and inverse kinematics analysis and feet-end trajectory planning, the thesis proposes a method to solve the problem of feet-end trajectory deviation of robots by analyzing the relative position between the target planning point of feet-end trajectory and the actual planning point. First, it will support the body's trajectory that it is equivalent to the feet-end , then through the relative position between the target planning point of the feet- end trajectory and the actual planning point , the method of calculating the trajectory of the ideal planning point is given. Finally , it is analyzed that the deviation of the feet-end trajectory target point and the actual planning point under 4 kinds of relative position of robots in the swing phase and support phase.