Trotting control strategy of variable stiffness quadruped robot

被引：0
|
作者：
Zhang X. [1 ]
Sun L. [1 ]
Liu W. [1 ]
Li M. [1 ]
机构：
[1] School of Mechanical Engineering, Hebei University of Technology, Tianjin
来源：
Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2019年 / 25卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Control strategy; Diagonal trot; Flexible joint; Quadruped robot; Variable stiffness;
D O I：
10.13196/j.cims.2019.02.017
中图分类号：
学科分类号：
摘要：
To improve the adaptability and stable motion ability in the complex environment, a diagonal trot motion control strategy of quadruped robot with active and passive Variable Stiffness Joint(apVSJ) was proposed. Based on Spring Loaded Inverted Pendulum (SLIP) model and control target decoupling method, the joint planning of diagonal legs for vacated phase, control strategies of forward speed, fuselage height and pitch adjustment for ground phase were designed separately, and active control strategy of leg stiffness was put forward. Then the gait motion planning of quadruped robot in diagonal trot based on foot touchdown state was completed, and a quadruped robot prototype based on active and passive variable stiffness joint was developed. The effectiveness and correctness of the motion control strategy were verified by the prototype experiments carried out. © 2019, Editorial Department of CIMS. All right reserved.
引用
收藏
页码：439 / 446
页数：7
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