Stance Phase Leg Actuation Control of the Active SLIP Running Based on Virtual Constraint in Sagittal Plane

Shan, Kaizheng; Yu, Haitao; Gao, Haibo; Zhang, Lixian; Deng, Zongquan

doi:10.23919/acc.2018.8430893

Cited by 2 publications

(1 citation statement)

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“…Currently, there are many ways to control robot body balance. The classical control methods include Zero Moment Point (ZMP) [6][7][8], Virtual Model Control (VMC) [9][10][11], Central Pattern Generator (CPG) [12,13], and Spring Loaded Inverted Pendulum (SLIP) [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Balance Control of a Quadruped Robot Based on Foot Fall Adjustment

et al. 2022

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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.

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