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

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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

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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
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