Untethered quadrupedal hopping and bounding on a trampoline  

作　　者：Boxing WANG Chunlin ZHOU Ziheng DUAN Qichao ZHU Jun WU Rong XIONG 

机构地区：[1]State Key Laboratory of Industrial Control Technology,College of Control Science and Engineering,Zhejiang University,Hangzhou 310027,China [2]Binhai Industrial Technology Research Institute of Zhejiang University,Tianjin 300301,China

出　　处：《Frontiers of Mechanical Engineering》2020年第2期181-192,共12页机械工程前沿（英文版）

基　　金：Financial support was provided by the Zhejiang Provincial Natural Science Foundation(Grant No.Y18F030012);the Science and Technology Project of Zhejiang Province(Grant No.2019C01043);the National Natural Science Foundation of China(Grant No.61836015);the State Key Laboratory of Industrial Control Technology(ICT1807)。

摘　　要：For quadruped robots with springy legs,a successful jump usually requires both suitable elastic parts and well-designed control algorithms.However,these two problems are mutually restricted and hard to solve at the same time.In this study,we attempt to solve the problem of controller design with the help of a robot without any elastic mounted parts,in which the untethered robot is made to jump on a trampoline.The differences between jumping on hard surfaces with springy legs and jumping on springy surfaces with rigid legs are briefly discussed.An intuitive control law is proposed to balance foot contact forces;in this manner,excessive pitch oscillation during hopping or bounding can be avoided.Hopping height is controlled by tuning the time delay of the leg stretch.Together with other motion generators based on kinematic law,the robot can perform translational and rotational movements while hopping or bounding on the trampoline.Experiments are conducted to validate the effectiveness of the proposed control framework.

关 键 词：hopping and bounding gait compliant mechanism compliant contact balance control strategy legged locomotion control quadruped robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]