The quadruped robot adaptive control in trotting gait walking on slopes

Zhang, Shulong; Ma, Hongxu; Yu, Yang; Wang, Jian

doi:10.1063/1.5005182

Cited by 9 publications

(4 citation statements)

References 10 publications

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“…Shulong Zhang [39] uses the joint sensor and inertial measurement unit (IMU) to estimate the Li [34] designed a hierarchical control system for the quadruped robot. Firstly, a cost map is constructed by calculating the topographic features below the robot body and the cost of choosing the default foothold location.…”

Section: Walking Control Methods On Low Slopementioning

confidence: 99%

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Survey of Quadruped Robots Coping Strategies in Complex Situations

Shao

Sun

et al. 2019

Electronics

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As an important branch of mobile robots, quadruped robots have high flexibility, high adaptability, and high dynamics, which provide excellent maneuverability and environmental adaptability. In the past ten years, researchers have done a lot of research on the ability of the quadruped robot to cope with the complex environment and published many results in order to make the working environment of the quadruped robot closer to reality. This paper collected these research results and divided these literatures into three categories according to different situations: crossing challenging terrain, walking on slope, and coping with interference, respectively, introducing representative methods. The purpose of this review is to summarize and analyze the previous research results and provide guidance for future research on quadruped robots in complex situations.

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Section: Walking Control Methods On Low Slopementioning

confidence: 99%

“…Shulong Zhang [39] uses the joint sensor and inertial measurement unit (IMU) to estimate the slope angle and the uphill angle. The use of the slope angle and the uphill angle to calculate the pitch and roll angles required keeping the body parallel to the ground.…”

Section: Walking Control Methods On Low Slopementioning

confidence: 99%

Survey of Quadruped Robots Coping Strategies in Complex Situations

Shao

Sun

et al. 2019

Electronics

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“…The previously proposed locomotion adaptation method [ 16 ] consists of the adaption of control frame, trunk orientation, stance legs, and swing leg motion. The spatial positions of three feet were selected to fit the support plane based on the vertical relationship between in-plane vector and normal vector [ 17 ]. Additionally, some studies have used the straight slope between the front and back footholds to approximate the inclination of the support plane directly [ 18 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Dynamic Locomotion Control of Quadruped Robot with Perception-Less Terrain Adaptation

et al. 2022

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In this paper, a parallel quadrupedal robot was designed that is capable of versatile dynamic locomotion and perception-less terrain adaptation. Firstly, a quadrupedal robot with a symmetric legs and a powerful actuator was implemented for highly dynamic movement. Then, a fast and reliable method based on generalized least square was proposed for estimating the terrain parameters by fusing the body, leg, and contact information. On the basis of virtual model control (VMC) with the quadratic program (QP) method, the optimal foot force for terrain adaptation was achieved. Finally, the results obtained by simulation and indoor and outdoor experiments demonstrate that the robot can achieve a robust and versatile dynamic locomotion on uneven terrain, and the rejection of disturbances is reliable, which proves the effectiveness and robustness of this proposed method.

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“…Even though normal quadrupedal trot walking could be implemented and push recovery could be guaranteed under a little bit external disturbance in [25], [28], extra antidisturbance control actions, such as gravity compensation, step length adjustment, swing trajectory adjustment, attitude adjustment, and virtual forces/torques adjustment, were still not studied to improve the robustness and terrain adaptability of quadrupedal locomotion. Zhang et al proposed a quadruped robot adaptive control in trotting gait walking on slopes by using the estimation and feedback of ground slope degree [29]. However, quadruped robots should have the ability to walk on more rough terrains in real world.…”

Section: Introductionmentioning

confidence: 99%

Virtual Model Control for Quadruped Robots

et al. 2020

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Virtual model control is a motion control framework that uses virtual components to create virtual forces/torques, which are actually generated by joint actuators when the virtual components interact with robot systems. Firstly, this paper employs virtual model control to do a dynamic balance control of whole body of quadruped robots' trot gait in a bottom controller. In each leg, there exists a designed swing phase virtual model control and a stance phase counterparts. In the whole body, virtual model control is utilized to achieve a attitude control containing roll, pitch and yaw. In the attitude control, a forces/torques distribution method between two stance legs is pre-investigated. In a high-level implemented controller, an intuitive velocity control approach proposed by Raibert is applied for the locomotion of quadruped robots. Secondly, an anti-disturbance control, which contains compensating gravity, adjusting step length, adjusting swing trajectory, adjusting attitude, and adjusting virtual forces/torques, is investigated to improve the robustness, terrain adaptability, and dynamic balance performance of quadrupedal locomotion. Thirdly, a trajectory tracking control method based on an intuitive velocity control is addressed through considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, simulations validate the effectiveness of proposed controllers.

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The quadruped robot adaptive control in trotting gait walking on slopes

Cited by 9 publications

References 10 publications

Survey of Quadruped Robots Coping Strategies in Complex Situations

Survey of Quadruped Robots Coping Strategies in Complex Situations

Design and Dynamic Locomotion Control of Quadruped Robot with Perception-Less Terrain Adaptation

Virtual Model Control for Quadruped Robots

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