Robust Controller Design for a Quadruped Walking Robot

被引：0
|
作者：
Huai, Chuangfeng [1 ,2 ]
Liu, Pingan [1 ]
Jia, Xueyan [1 ]
机构：
[1] East China Jiaotong Univ, Sch Mech & Elect Engn, Nanchang 330013, Peoples R China
[2] S China Univ Technol, Sch Automat Sci & Engn, Guang Zhou 510641, Peoples R China
来源：
SENSOR LETTERS | 2013年 / 11卷 / 6-7期
关键词：
Robust Controller; Quadruped Walking; Virtual Leg; Contact Force; Friction Pyramid; NEURAL NETWORKS;
D O I：
10.1166/sl.2013.2907
中图分类号：
O65 [分析化学];
学科分类号：
070302 ; 081704 ;
摘要：
This paper presents a method for designing free gaits for structural symmetrical four-legged robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. For adjusting the planned control law continuously in response to the current movement of the feet of the robot, a control scheme has been presented to make the quadruped robot control systems robust to parametric and unstructured uncertainties. Simulation results are presented to show the system's efficiency and stability in adapting to an uncertain terrain.
引用
收藏
页码：1332 / 1336
页数：5
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