Design of trotting controller for the position-controlled quadruped robot  

作　　者：张国腾 Liu Jinchang Rong Xuewen Li Yibin Chai Hui Li Bin Zhang Hui Zhang Shuaishuai 

机构地区：[1]School of Control Science and Engineering,Shandong University [2]High Technology Research Development Center,Ministry of Science and Technology of the People's Republic of China

出　　处：《High Technology Letters》2016年第3期321-333,共13页高技术通讯（英文版）

基　　金：Supported by the National Natural Science Foundation of China(No.61233014,61305130);China Postdoctoral Science Foundation(No.2013M541912);the Shandong Provincial Natural Science Foundation(No.ZR2013FQ003,ZR2013EEM027)

摘　　要：This work presents a controller designed for position-controlled quadrupedal dynamic locomotion,aiming at simple and robust trotting control. The controller takes the torso attitude angles and velocities into planning foot trajectories. Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced. Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model. Furthermore,it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional motions. Finally,results of robust trotting in various speeds,path tracking and push recovery in simulation are reported,and results of trotting on real quadruped robots will be studied.This work presents a controller designed for position-controlled quadrupedal dynamic locomo- tion, aiming at simple and robust trotting control. The controller takes the torso attitude angles and velocities into planning foot trajectories. Firstly design of the servo motor actuated quadruped robot is introduced and the kinematic equations are deduced. Then a scheme is presented for controlling the robot torso attitude based on the virtual leg model. Furthermore, it demonstrates the design of the controller which enables the robot to have a wide range of trotting gaits and omni-directional mo- tions. Finally, results of robust trotting in various lation are reported, and results of trotting on real speeds, path tracking and push recovery in simu- quadruped robots will be studied.

关 键 词：quadruped robot position control torso attitude foot trajectory trotting locomotion 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]