Design and analysis of intelligent quadrupedal robot based on complex road environment

The paper presents a design for a parallel-connected quadruped robot to address the challenges faced by wheeled and tracked robots in complex environments for rescue, reconnaissance and other tasks. The robot is designed to overcome the limitations of tandem quadruped robots, which have low degrees of freedom of movement and poor load-bearing capacity. The foot end design utilises overlapping multi-layer silicone plates, while the leg structure design employs a universal disc as a coupling. This enhances the quadrupedal robot's adaptability to complex road environments and improves its loadbearing capacity. The text describes the kinematic analysis of the gait motion principle and leg structure of a quadrupedal robot. It proposes an attitude stabilisation method based on IMU data to achieve more flexible and stable control of the robot. The control of eight 3508 motors and communication with IMU and Bluetooth modules are achieved through the kinematic inverse solution and serial PID algorithm, using STM32F407ZET6 as the main control chip. The physical model was created and tested based on the calculation and analysis results. The results indicate that the quadruped robot's movement stability and flexibility meet the design objectives and requirements.