ZMP preview control based compliance control for a walking quadruped robot

Xu, Jiaqi; Ge, Ligang; Wang, Jian; Wei, Qing; Ma, Hongxu

doi:10.1109/icinfa.2015.7279250

Cited by 2 publications

(2 citation statements)

References 12 publications

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“…Additionally, it allows them to perform gaits with complete flight phases, such as jumping, pushing up, and flying trot. To address the challenge of quadruped robots’ flexibility in walking gaits when faced with unperceived interference, Xu et al [ 107 ] proposed a compliance control strategy. This strategy is based on ZMP preview control, aiming to establish soft contact between the foot and the ground.…”

Section: Control Of Quadruped Robotsmentioning

confidence: 99%

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Fan,

Pei,

Wang

et al. 2024

Advanced Intelligent Systems

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With their unique point‐contact ability with the ground and exceptional adaptability to complex terrains, quadruped robots have become a focal point in the fields of automation and robotic engineering. Significant research progress has been made in aspects such as structural design, motion planning, and balance control of these robots. However, a primary challenge in current research lies in further enhancing the dynamic performance, environmental adaptability, and payload capacity. In this article, research achievements in key technical areas of quadruped robots, encompassing structural design, gait planning, traditional control strategies, intelligent control strategies, and autonomous movement, are comprehensively discussed. The focus of the article is on analyzing trends in intelligence and technological innovation within the aforementioned areas, aiming to provide robust theoretical support and forward‐looking technical guidance for quadruped robots research. Additionally, it offers valuable references for scholars engaged in this field.

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Section: Control Of Quadruped Robotsmentioning

confidence: 99%

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Fan,

Pei,

Wang

et al. 2024

Advanced Intelligent Systems

View full text Add to dashboard Cite

show abstract

“…For instance, a large number of calculations are involved in the robot's movement, which does not guarantee real-time performance. Moreover, the ZMP theory does not apply to complex terrain [15,16].…”

Section: Introductionmentioning

confidence: 99%

Structural Design, Simulation and Experiment of Quadruped Robot

Shi

Guo

et al. 2021

Applied Sciences

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This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements and smooth motions. Furthermore, the kinematic and inverse kinematic solutions based on the DH method are explored to lay the foundation for the gait algorithm. Afterward, a classical compound pendulum equation is applied as the foot-end trajectory and inverse kinematic solutions are combined to complete the gait planning. With appropriate foot–ground contact modeling, MATLAB and ADAMS are used to simulate the dynamic behavior and the diagonal trot gait of the quadruped robot. Finally, the physical prototype is constructed, designed and debugged, and its performance is measured through real-world experiments. Results show that the quadruped robot is able to balance itself during trot motion, for both its pitch and roll attitude. The goal of this work is to provide an affordable yet comprehensive platform for novice researchers in the field to study the dynamics, contact modeling, gait planning and attitude control of quadruped robots.

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ZMP preview control based compliance control for a walking quadruped robot

Cited by 2 publications

References 12 publications

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Structural Design, Simulation and Experiment of Quadruped Robot

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