2019
DOI: 10.13180/clawar.2019.26-28.08.02
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Abstract: In order to plan the foot trajectory and provide compliant behavior for quadruped robots, a locomotion controller based on the trajectory planning method and the virtual model is presented. The trajectory planning model is generated during the swing phase by using inverse kinematics and coordination transition. One method to reduce the fluctuation of speed and acceleration jumps is proposed here, generating fluent motion and avoiding slipping. In this paper, a virtual model controller has been built for the st…

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