吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (2): 557-566.doi: 10.13229/j.cnki.jdxbgxb201702030

Previous Articles     Next Articles

Gait based planar hopping control of quadruped robot on uneven terrain with energy planning

CHAI Hui1, RONG Xue-wen1, TANG Xing-peng1, LI Yi-bin1, ZHANG Qin2, LI Yue-yang2   

  1. 1.School of Control Science and Engineering, Shandong University, Jinan 250061,China;
    2.School of Electrical Engineering, Jinan University, Jinan 250022, China
  • Received:2015-09-28 Online:2017-03-20 Published:2017-03-20

PDF (PC)

464

Abstract: To make a quadruped robot run on rough terrain with less vibration on the pitch angle of the torso, a gait based hopping control approach with a passive joint is proposed. A planar kinematic model is built based on the supporting phase with at least one front stance leg and one rear stance leg, such as trotting gait. The control of 3-dof planar movements of the torso is decoupled by the virtual model and force distribution control. In the hopping control, the hopping cycle is controlled by the energy planning and active independence control on vertical direction, the horizontal velocity is controlled by a proportion control, and the pitch angle is held by a position control with high gain. The control approach and its robustness are verified by the experiments in virtual physical simulation environment.

Key words: automatic control technology, robot control, planar hopping control, energy planning, virtual model, active independence

CLC Number: 

  • TP242.6
[1] Kajita S, Espiau B. Legged Robots[M]. Berlin: Springer, 2008: 361-389.
[2] Li Yi-bin,Li Bin,Ruan Jiu-hong,et al.Research of mammal bionic quadruped robots: a review[C]∥IEEE Conference on Robotics, Automation and Mechatronics (RAM),Qingdao,China,2011:166-171.
[3] Raibert M, Blankespoor K, Nelson G, et al. Bigdog, the rough-terrain quadruped robot[C]∥Proceedings of the 17th World Congress. Seoul: International Federation of Automatic Control, 2008, 17(1): 10822-10825.
[4] Bloss R. Robot walks on all four legs and carries a heavy load[J]. Industrial Robot: An International Journal, 2012, 39(5): 524-525.
[5] Semini C. HyQ-Design and development of a hydraulically actuated quadruped robot[D]. Genoa, Italy: University of Genoa, 2010.
[6] Cho J,Kim J T,Park S,et al.Dynamic walking of JINPOONG on the uneven terrain[C]∥The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI),Jeju,2013:468-469.
[7] 柴汇,孟健,荣学文,等.高性能液压驱动四足机器人SCalf的设计与实现[J].机器人,2014,36(4):385-391.
[8] Raibert M H. Legged Robots that Balance[M]. Cambridge,MA: The MIT Press,1986.
[9] Ahmadi M, Buehler M. Stable control of a simulated one-legged running robot with hip and leg compliance[J]. IEEE Transactions on Robotics and Automation, 1997, 13(1): 96-104.
[10] Sato A,Buehler M.A planar hopping robot with one actuator:design,simulation,and experimental results[C]∥International Conference on Intelligent Robots and Systems (IROS),Sendai,2004:3540-3545.
[11] Smith J A, Poulakakis I. Rotary gallop in the untethered quadrupedal robot scout II[C]∥International Conference on Intelligent Robots and Systems (IROS), Sendai, 2004.
[12] Ananthanarayanan A,Azadi M,Kim S.Towards a bio-inspired leg design for high-speed running[J].Bioinspiration & Biomimetics,2012,7(4):913-929.
[13] Valenzuela A K, Kim S. Optimally scaled hip-force planning:a control approach for quadrupedal running[C]∥IEEE International Conference on Robotics and Automation (ICRA), St Paul: IEEE, 2012: 1901-1907.
[14] Boston Dynamics. CHEETAH-Fastest legged robot[EB/OL].[2012-09-05].http://www.bostondynamics.com/robot_cheetah.html.
[15] Ackerman E. Whoa: Boston Dynamics announces new wildCat quadruped robot[EB/OL].[2013-10-04]. http://spectrum.ieee.org/automaton/robotics/military-robots/whoa-boston-dynamics-announces-new-wildcat-quadruped.
[16] Robert F. Design of the SCOUT II Quadruped with Preliminary Stair-Climbing[D]. Montréal, Canada: McGill University, 1999.
[17] Shkolnik A, Levashov M, Manchester I R, et al. Bounding on rough terrain with the LittleDog robot[J]. The International Journal of Robotics Research, 2010, 30(2): 192-215.
[18] Hodgins J K, Raibert M. Adjusting step length for rough terrain locomotion[J]. IEEE Transactions on Robotics and Automation, 1991, 7(3): 289-298.
[19] Palmer L R, Orin D E. Quadrupedal running at high speed over uneven terrain[C]∥International Conference on Intelligent Robots and Systems (IROS), San Diego: IEEE, 2007: 303-308.
[1] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[2] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[3] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[4] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[5] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[6] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[7] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[8] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[9] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[10] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[11] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[12] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
[13] HU Yun-feng, GU Wan-li, LIANG Yu, DU Le, YU Shu-you, CHEN Hong. Start-stop control of hybrid vehicle based on nonlinear method [J]. 吉林大学学报(工学版), 2017, 47(4): 1207-1216.
[14] SHEN Shuai, ZHANG Bao, LI Xian-tao, ZHU Feng, JIN Chao-qiong. Acceleration feedback control based on tracking differentiator [J]. 吉林大学学报(工学版), 2017, 47(4): 1217-1224.
[15] SHAO Ke-yong, CHEN Feng, WANG Ting-ting, WANG Ji-chi, ZHOU Li-peng. Full state based adaptive control of fractional order chaotic system without equilibrium point [J]. 吉林大学学报(工学版), 2017, 47(4): 1225-1230.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd