国防科技大学学报Issue(4)：146-151,6.DOI:10.11887/j.cn.201404025
四足机器人对角小跑动态控制
Dynamic control for quadrupedal trotting locomotion
摘要
Abstract
Based on Virtual Model Control method,the control laws of the single leg for stance phase and swing phase were obtained from the single leg Jacobian of the quadruped robot.In order to realize the full body control,a decomposed method was proposed,which decomposes the body control objectives of the quadruped robot into each standing leg control.The virtual components of each standing leg were set up,and the virtual forces were transformed into desired joint torques to achieve the virtual model control for standing leg.The swing foot trajectories were planned in real time and the virtual components were used to connect the swing foot and the planned trajectories,so that the virtual model control for swing leg was realized.Based on the switching rule of the leg phase sequence,simulations about velocity control and disturbance rejection were studied with a planar quadruped model using trotting gait.The simulation results verified that the proposed control method is effective in height,speed and pitch angle control of the body,can achieve dynamic control of the quadrupedal trotting locomotion,and is robust for disturbance rejection.关键词
四足机器人/虚拟模型控制/对角小跑步态/运动控制Key words
quadruped robot/virtual model control/trotting gait/locomotion control分类
信息技术与安全科学引用本文复制引用
谢惠祥,罗自荣,尚建忠..四足机器人对角小跑动态控制[J].国防科技大学学报,2014,(4):146-151,6.基金项目
国家高技术研究发展计划资助项目 （）
