吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (5): 1502-1511.doi: 10.13229/j.cnki.jdxbgxb201505019

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Trotting gait control of quadruped robot with straight legs based on virtual elements

LI Man-tian, JIANG Zhen-yu, WANG Peng-fei, SUN Li-ning   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
  • Received:2014-01-15 Online:2015-09-01 Published:2015-09-01

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Abstract: To enhance the capability of fleet and smooth navigation of quadruped robot in unknown and complex terrain, a control method of quadruped robot with straight legs in stance phase is proposed. First, in terms of the motion condition on the complex terrain, the kinematics and dynamics models of the quadruped robot with straight legs are established. Then, on the basis of the dynamic characteristics of the Spring Loaded Inverted Pendulum (SLIP), virtual elastic and damping elements are introduced to the multi-DoFs of the torso to realize the control of these DoFs during stance phase, especially, in the forward movement. Finally, the control method is verified in simulation of the robot navigating on flat or complex ground. The performances of two control strategies developed are discussed in simulation to improve the synthesized performance of quadruped under different conditions.

Key words: automatic control technology, quadruped robot, locomotion control, trotting gait

CLC Number: 

  • TP273
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