An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot  

作　　者：Tianfa Li Lelai Zhou Yibin Li Hui Chai Kun Yang 

机构地区：[1]School of Control Science and Engineering,Center for Robotics,Shandong University,Jinan 250061,China

出　　处：《Journal of Bionic Engineering》2020年第2期290-302,共13页仿生工程学报（英文版）

基　　金：This work was supported in part by the National Natural Science Foundation of China(Grant Nos.61973191 and 61603216);the National Key R&D Program of China(Grant No.2017YFF0107803);in part by the Key R&D Program of Shandong(Grant No.2017CXGC0901);The authors acknowledge the support by the Young Scholars Program of Shandong University(YSPSDU).

摘　　要：Energy efficiency has been the focus of quadruped robot research.Decreasing the energy loss caused by the DC motor can contribute to the walking efficiency of electrically actuated quadruped robots.Most works have focused on the quadruped mechanisms or actuations such as the Series Elastic Actuation(SEA).This work proposes a better efficient controller to perform the stable 5 m·s-1 movements of quadruped robots.The dynamic model of the electrically actuated leg is established by Lagrangian formulation.The energy efficiency of the DC motors in the electrically actuated quadruped robot is formulated as an optimization problem.The Stochastic Linear Complementarity Problem(SLCP)and sinusoidal pulse force are proposed to reduce the energy consumption at the contact.The Bemstein polynomials are used for planning a quasi-elliptic foot motion trajectory.The stability and energy efficiency of the proposed controller are verified with computer simulation and an actual single leg robot prototype.Compared with other works,the proposed controller performs the optimal Cost of Transport(COT).

关 键 词：BIONIC QUADRUPED ROBOTS Stochastic Linear Complementarity Problem sinusoidal pulse force quasi-elliptic TRAJECTORY 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]