Design and Implementation of Deformable Four-Legged Robot Based on OS

Wheel-foot robot has a strong ability to adapt to unstructured environment and can avoid the disadvantage of difficult control, which is one of the hot research issues in the field of robotics. However, the existing research on wheel-foot robot is the separation of wheel and foot, the structure of the robot is relatively complex, easy to be restricted by the environmental space. Therefore, it is of great theoretical and practical value to optimize the structure of wheel foot robot and enhance its universality. In this paper, a four-legged robot with simple structure and strong universality is developed by using the step function to realize diagonal trotting gait. First of all, the wheel and foot integrated quadruped robot body structure design. The three-dimensional model of quadruped robot was designed by using SolidWorks software, and the overall assembly of the structure model was completed. The principle of robot wheel and foot conversion is studied, which lays a foundation for the subsequent virtual simulation experiment. Finally, virtual simulation of four-legged bionic robot with wheel and foot integration is presented. Constraints and drives were added to each component in Adams software, a virtual prototype of a quadruped robot was established, and step function was added to the drive. Under the function, diagonal trot gait motion simulation was realized, driving and displacement curves of each joint were obtained, and the rationality of the robot structural design was further verified.