A buffering method for quadruped robots based on active impedance control

被引：1
|
作者：
刘斌 [1 ]
Rong Xuewen [1 ]
机构：
[1] School of Control Science and Engineering,Shandong University
来源：
High Technology Letters | 2016年 / 22卷 / 04期
基金：
中国博士后科学基金; 中国国家自然科学基金; 国家高技术研究发展计划(863计划);
关键词：
quadrupled robot; buffering strategy; position control; force control; variable stiffness-damping control;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative( PD) force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform.
引用
收藏
页码：445 / 453
页数：9
相关论文
共 50 条
  • [1] A buffering method for quadruped robots based on active impedance control
    Liu B.
    Rong X.
    Rong, Xuewen (rongxw@sdu.edu.cn), 2016, Inst. of Scientific and Technical Information of China (22) : 445 - 453
  • [2] An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control
    Xin, Guiyang
    Wolfslag, Wouter
    Lin, Hsiu-Chin
    Tiseo, Carlo
    Mistry, Michael
    FRONTIERS IN ROBOTICS AND AI, 2020, 7
  • [3] Svm-based gait control method for hydraulic quadruped robots
    Zhang G.
    Deng W.
    Wei L.
    Journal of Applied Science and Engineering (Taiwan), 2024, 27 (02): : 2007 - 2018
  • [4] A Fuzzy Control Method based on Central Pattern Generator for Quadruped Robots
    Zhang, Dongkun
    Wu, Jun
    Zhu, Qiuguo
    Xiong, Rong
    Zhang, Yifeng
    Zhu, Yang
    Xu, Jing
    2019 CHINESE AUTOMATION CONGRESS (CAC2019), 2019, : 861 - 866
  • [5] A method on impedance control of robots based on the neural network
    Yang Zhen
    Li Mu-hai
    2008 FOURTH INTERNATIONAL CONFERENCE ON INTELLIGENT INFORMATION HIDING AND MULTIMEDIA SIGNAL PROCESSING, PROCEEDINGS, 2008, : 1433 - 1436
  • [6] Gait Transition Method for Quadruped Robot Based on CPG Network and Impedance Control
    Gu, Sai
    Meng, Fei
    Liu, Botao
    He, Zewen
    Fan, Xuxiao
    Ming, Aiguo
    Huang, Qiang
    2020 5TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2020), 2020, : 387 - 391
  • [7] Optimization Method of Impedance Control Parameters of Quadruped Robot Based on Dynamic Consistency
    Zhang, Cong
    Wang, Jing
    Wei, Qing
    2021 6TH IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2021), 2021, : 180 - 185
  • [8] Model Based Gait Transition Control for Quadruped Robots
    Chen J.
    Li C.
    San H.
    Kang W.
    Ba G.
    Yang X.
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2024, 55 (03): : 431 - 440and451
  • [9] A composite motion control method for quadruped robots in trot gait
    Gong, Chikun
    Fang, Honglei
    Yuan, Lipeng
    Zhang, Na
    JOURNAL OF VIBRATION AND CONTROL, 2024,
  • [10] Obstacle avoidance trajectory control method for quadruped biomimetic robots based on embedded sensors
    Zhong, Yuanquan
    Wang, Guanglin
    INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2024, 45 (2-3) : 145 - 153
12345