Design of a Parallel Quadruped Robot Based on a Novel Intelligent Control System

In order to make a robot track desired trajectory with high precision and steady gait, novel intelligent controller was designed based on new mechanical structure optimized foot trajectory. Kinematics models in terms of the D-H method were established analyze relationship between angle driving joint position. Inspired by dog’s diagonal trot flat terrain, planning swing support phases without impact fulfilled compound cycloid improved Bézier curve. Both cascade proportional–integral–derivative (PID) control system fuzzy adaptive PID applied realize stable operation quadruped robot, their parameters sparrow search algorithm. The convergence speed accuracy algorithm verified comparing moth flame optimization particle swarm Finally, co-simulation MATLAB ADAMS utilized compare effects two systems. results both displacement velocity exhibit that movement bionic systems possessed better stability than motion process also demonstrates effectiveness system.