Contact Force Based Compliance Control or a Trotting Quadruped Robot

被引：0
|
作者：
Xu, Jiaqi [1 ]
Lang, Lin [1 ]
Ma, Hongxu [1 ]
Wei, Qing [1 ]
机构：
[1] Natl Univ Def Technol, Coll Mechatron Engn & Automat, Changsha 410073, Hunan, Peoples R China
来源：
2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2015年
关键词：
Quadmped Robot; Trot Gait; Compliance Control; Force Control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In these paper, a compliance control strategy based on force control for quadruped trot gait locomotion over unperceived rough terrain. To avoid interference of environmental disturbance and unknown model characters, a sliding mode based controller is designed to control the position/posture of the robot torso. The three distribution and control modules calculate desired contact force by eliminating interaction force between the stance legs. Simulations and experimental results demonstrate the effectiveness of our compliance control strategy as the quadruped robot successfully trotting over rough terrain.
引用
收藏
页码：4879 / 4884
页数：6
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