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
相关论文
共 50 条
  • [31] Torso motion control and toe trajectory generation of a trotting quadruped robot based on virtual model control
    Zhang, Guoteng
    Rong, Xuewen
    Hui, Chai
    Li, Yibin
    Li, Bin
    [J]. ADVANCED ROBOTICS, 2016, 30 (04) : 284 - 297
  • [32] Energy Consumption of Trotting Gait for a Quadruped Robot
    Chen, Xianbao
    Gao, Feng
    Qi, Chenkun
    Wei, Lin
    [J]. MECHANISM AND MACHINE SCIENCE, 2017, 408 : 295 - 306
  • [33] Posture adjustment for quadruped robot trotting on a slope
    Han B.-L.
    Jia Y.
    Li H.-S.
    Luo Q.-S.
    Zhou C.-Y.
    [J]. Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology, 2016, 36 (03): : 242 - 246
  • [34] A Turning Gait Generation Approach for Quadruped Robot Based on Trotting Gait
    Hong, Zhen
    Li, Bin
    Zhang, Hui
    Xin, Yaxian
    Li, Yibin
    [J]. PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 6068 - 6073
  • [35] Compliance Control Based for a Quadruped Robot Walking over Rough Terrain
    Xu, Jiaqi
    Lang, Lin
    An, Honglei
    Ma, Hongxu
    Zhu, Kaiying
    [J]. 2015 CHINESE AUTOMATION CONGRESS (CAC), 2015, : 348 - 353
  • [36] Dynamics simulation of quadruped bionic robot based on force control
    [J]. Cao, Q. (qxcao@sjtu.edu.cn), 1600, Southeast University (43):
  • [37] Foot Contact Force of Walk Gait for a Quadruped Robot
    Li, Xiaoqi
    Wang, Wei
    Yi, Jianqiang
    [J]. 2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, 2016, : 659 - 664
  • [38] A Stable Walking Strategy of Quadruped Robot Based on ZMP in Trotting gait
    Li, Xuesheng
    Zhang, Xinhao
    Niu, Junkai
    Li, Chen
    [J]. PROCEEDINGS OF 2022 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2022), 2022, : 858 - 863
  • [39] Fractional-order Virtual Model Control for Trotting Motion of Quadruped Robot
    Zhao, JiangBo
    Ma, Shicheng
    Niu, Shanshuai
    Wang, Junzheng
    [J]. PROCEEDINGS OF THE 32ND 2020 CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2020), 2020, : 4935 - 4942
  • [40] Stability of a trotting quadruped robot with passive, underactuated legs
    Meek, Sanford
    Kim, Jongwon
    Anderson, Michael
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 347 - 351
12345