Velocity Control of The Quadruped Robot Based on Force Control

被引：0

作者：

Zhang, Xianpeng ^{[1
]}

An, Honglei ^{[1
]}

Wu, Han ^{[1
]}

Ma, Hongxu ^{[1
]}

机构：

[1] Natl Univ Def Technol, Changsha, Hunan, Peoples R China

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2015年

关键词：

LOCOMOTION;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The quadruped robot can achieve stable locomotion with contact force control. The key technology of it is to convert the control of the center of mass (COM) to the control of supporting legs. In this passage, a control strategy is presented based on model decomposition on trotting gait. The quadruped robot in supporting phase can be decomposed into a seven-link planar and a linear inverted pendulum. By controlling the contact force of the supporting feet and the foothold of the linear inverted pendulum, the quadruped robot can achieve steady locomotion. Then the simulation and experiment results show that the robot can track the desired velocity exactly and steadily.

引用

页码：869 / 874

页数：6

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