The Complex Dynamic Locomotive Control and Experimental Research of a Quadruped-Robot Based on the Robot Trunk

Abstract

The research of quadruped robots is fundamentally motivated by their excellent performance in complex terrain. Maintaining the trunk moving smoothly is the basis of assuring the stable locomotion of the robot. In this paper we propose a planning and control strategy for the pacing gait of hydraulic quadruped robots based on the centroid. Initially, the kinematic model between the single leg and the robot trunk was established. The coupling of trunk motion and leg motion was elaborated on in detail. Then, the real-time attitude feedback information of the trunk was considered, the motion trajectory of the trunk centroid was planned, and the foot trajectory of the robot was carried out. Further, the joint torques were calculated that fulfillment minimization of the contact forces. The position and attitude of the robot trunk were adjusted by the presented controller. Finally, the performance of the proposed control framework was tested in simulations and on a robot platform. By comparing the attitude of the robot trunk, the experimental results show that the trunk moved smoothly with small-magnitude by the proposed controller. The stable dynamic motion of the hydraulic quadruped robot was accomplished, which verified the effectiveness and feasibility of the proposed control strategy.

Fault-Tolerant Tripod Gait Planning and Verification of a Hexapod Robot

“…To complete the kinematic analysis of the robot, the first problem is to describe the robot parametrically. Based on standard Denavit-Hartenberg (D-H) notation [25,26], the hexapod leg link can be described as in Table 1.…”

Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems

“…As already discussed in the Introduction, control is tightly related to motion planning, and concurrent approaches that optimally develop the controller and the planner can be developed too. For example, in order to enhance the stability of hydraulic quadruped robots, a centroid-based controller for quadrupedal pacing is proposed in [15]. The real-time attitude feedback information of the trunk centroid is introduced into the trajectory planning of the trunk centroid.…”

Improved active disturbance rejection control with the optimization algorithm for the leg joint control of a hydraulic quadruped robot

“…For a hydraulic robot, different highly integrated valve-controlled cylinder systems comprise the robot driving component. 5,6 The hydraulic drive system includes not only high control accuracy but also dynamic compliance performances. Thus, the impact on robot joints can be weakened, which can protect the robot components and enhance robot moving stability.…”