哈尔滨工程大学学报2025，Vol.46Issue(10)：2049-2058,10.DOI:10.11990/jheu.202312002
基于二次规划的四足机器人步态优化控制
Design and verification of an optimized controller based on quadratic programming for quadruped robots in trotting gait
摘要
Abstract
In order to achieve stable walking for quadruped robots in trotting gait,a control framework based on quadratic programming is proposed.The controller is mainly composed of two controllers respectively for support phase and flight phase.During the support phase,virtual force acted on the torso is controlled based on virtual im-pedance model.And the feet force distribution is optimized based on quadratic programming.During the flight phase,the landing point is regulated with the velocity of the robot.And joint impedance control is implemented to smoothly track the foot trajectory which is planned as Bessel curve.In addition,the feet force is estimated to touch the ground compliantly.The effectiveness and robustness of the controller are verified by simulations and experi-ments which show that the robot is able to stably trot through uneven terrains,even suffering from external impact.关键词
四足机器人/对角步态/虚拟模型/二次规划/最优分配/贝塞尔曲线/关节阻抗/轨迹规划Key words
quadruped robot/trotting gait/virtual model/quadratic programming/optimized distribution/bezier curve/joint impedance/trajectory planning分类
计算机与自动化引用本文复制引用
张沛,田健,李剑飞,危清清,徐博..基于二次规划的四足机器人步态优化控制[J].哈尔滨工程大学学报,2025,46(10):2049-2058,10.基金项目
国家自然科学基金项目(6142804230106). （6142804230106）
