A buffering method for quadruped robots based on active impedance control  

作　　者：刘斌 Rong Xuewen 

机构地区：[1]School of Control Science and Engineering,Shandong University

出　　处：《High Technology Letters》2016年第4期445-453,共9页高技术通讯（英文版）

基　　金：Supported by the National High Technology Research and Development Program of China(No.2015AA042201);the National Natural Science Foundation of China(No.61233014,61305130);the Shandong Provincial Natural Science Foundation(No.ZR2013FQ003,ZR2013EEM027);China Postdoctoral Science Foundation(No.2013M541912)

摘　　要：Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative( PD) force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform.Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative（ PD） force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform.

关 键 词：quadrupled robot buffering strategy position control force control variable stiffness-damping control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]