| Zhang Guoteng (张国腾),Liu Jinchang,Rong Xuewen,Li Yibin,Chai Hui,Li Bin,Zhang Hui,Zhang Shuaishuai.[J].高技术通讯(英文),2016,22(3):321~333 |
|
| Design of trotting controller for the position-controlled quadruped robot |
| |
| DOI：10.3772/j.issn.1006-6748.2016.03.012 |
| 中文关键词: |
| 英文关键词: quadruped robot, position control, torso attitude, foot trajectory, trotting locomotion |
| 基金项目: |
| Author Name | Affiliation | | Zhang Guoteng (张国腾) | | | Liu Jinchang | | | Rong Xuewen | | | Li Yibin | | | Chai Hui | | | Li Bin | | | Zhang Hui | | | Zhang Shuaishuai | |
|
| Hits: 1018 |
| Download times: 911 |
| 中文摘要: |
| |
| 英文摘要: |
| This work presents a controller designed for position-controlled quadrupedal dynamic locomotion, aiming at simple and robust trotting control. The controller takes the torso attitude angles and velocities into planning foot trajectories. Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced. Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model. Furthermore, it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional motions. Finally, results of robust trotting in various speeds, path tracking and push recovery in simulation are reported, and results of trotting on real quadruped robots will be studied. |
|
View Full Text
View/Add Comment Download reader |
| Close |
|
|
|
