Balance Control of a Quadruped Robot Based on Foot Fall Adjustment
Source abstract
Abstract
To balance the diagonal gait of a quadruped robot, a dynamic balance control method is presented to improve the stability of the quadruped robot by adjusting its foot position. We set up a trunk-based coordinate system and a hip-based local coordinate system for the quadruped robot, established the kinematics equation of the robot, and designed a reasonable initial diagonal gait through the spring inverted pendulum model. The current trunk posture of the quadruped robot is obtained by collecting the data of its pitch and roll angle, and the foot position is predicted according to the current posture and initial gait of the quadruped robot. To reduce the impact of one leg landing on the ground and increase the stability of the quadruped robot, we adjust the landing point of the robot according to the landing time difference between the diagonal legs. The proposed method can adjust the body in such scenarios as planar walking and lateral impact resistance. It can reduce the disturbance during the robot motion and make the robot move smoothly. The validity of this method is verified by simulation experiments.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Locomotion and Control · Bat Biology and Ecology Studies · Winter Sports Injuries and Performance
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China
Funding
National Natural Science Foundation of China
References (20)
Show source-provided references
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