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
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