Multi-constraint spatial coupling for the body joint quadruped robot and the CPG control method on rough terrain

Quadruped robots have frequently appeared in various situations, including wilderness rescue, planetary exploration, and nuclear power facility maintenance. The quadruped robot with an active body joint has better environmental adaptability than one without body joints. However, it is difficult to guarantee the stability of the body joint quadruped robot when walking on rough terrain. Given the above issues, this paper proposed a gait control method for the body joint quadruped robot based on multi-constraint spatial coupling (MCSC) algorithm. The body workspace of the robot is divided into three subspaces, which are solved for different gaits, and then coupled to obtain the stable workspace of the body. A multi-layer central pattern generator model based on the Hopf oscillator is built to realize the generation and switching of walk and trot gaits. Then, combined with the MCSC area of the body, the reflex adjustment strategy on different terrains is established to adjust the body's posture in real time and realize the robot's stable locomotion. Finally, the robot prototype is developed to verify the effectiveness of the control method. The simulation and experiment results show that the proposed method can reduce the offset of the swing legs and the fluctuation of the body attitude angle. Furthermore, the quadruped robot is ensured to maintain stability by dynamically modifying its body posture. The relevant result can offer a helpful reference for the control of quadruped robots in complex environments.