该机器狗具有多达12个行走控制关节以及4个表情关节。因此步态设计要考虑12个自由度的动作顺序与协调控制问题。本文将对机器狗的步行机构、机器人运动学、典型步态的设计与分析等进行阐述。

本文首先分析了机器人运动学与机器狗机构特性。通过机器狗步行机构的特性，据此建立了机器狗的运动学分析模型。文中通过坐标变换理论详细分析了机器狗逆运动学。引入机器狗示教方法弥补由于逆运动学求解带来的大量数据的复杂计算。接着分析了机器狗的步态规划，对机器狗的占空系数进行了较为详细的分析。运用仿生学的思想对机器狗快走的对角线一致步态与慢走步态进行了设计与分析，对两种步态的关节动作顺序和转角问题进行了阐述。随后考虑了机器狗步态实现的解决方案，以FPGA为核心芯片进行设计，详细阐述了系统的各个模块的功能与相互的联系，分析了模块的端口定义、功能以及VHDL语言实现程序，并以嵌入式逻辑分析仪的在线调试波形图对模块功能进行了数据分析。最后通过全局调试波形与机器狗的步态动作表现验证控制系统设计的正确性。

关键词：机器狗；步态设计；FPGA；VHDL

The design and implementation of a quadruped robotic pet dog’s gait

Abstract： This design used the i-cybie which is a quadruped pet robotic dog as the motion planning platform, design the gait for it, and use the FPGA which come from Altera Corp as the main control chip. With the development of science and technology, electronic circuit design is gradually emerging from the traditional design patterns, and using FPAG to design electronic circuit design is becoming the tendency.  

    The robotic dog has as many as 12 joints of motion control and 4 joints of expression. Therefore，the movement control of 12 degree of freedom and coordination problems are considered in the gait design . The walking mechanism and the robot kinematics and the typical gait analysis and design will be elaborated in this paper.

Firstly, this paper analyzes the robotic kinematics and the mechanical character of the robotic dog. Through the mechanical character of the robotic dog , we establish the kinematics model of the robotic dog for analysis. The mechanical inverse kinematics is detailed analyzed by the theory of coordinate transformation. In order to offset the massive data computation for the inverse kinematics, the teaching method for robotic dog is introduced. And then, the gait planning for the robotic dog was analyzed，and detailed analysis the duty factor of the robotic dog. Through the idea of the Bionics, the trot gait and pace gait of the dog was analyzed and designed, and give an expatiate of these two gaits' action sequence and angle issue, and then the solution for realize the gait of the robotic dog is taken into consideration. The FPGA is the core chip for the design, and the function for the modules of the system and their connection are detailed exposed, the definition and the function for every port of the modules and VHDL program are analyzed, and use the online waveform which debugged by the Embedded Logic Analyzer to analyze the function of these modules in data analysis. Finally, through the whole debug waveform and the gait performance of the robotic dog, we verify that the control system is correct.

Key words:  robotic dog,  gait design,  FPAG,  VHDL