Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation

Locomotion control for quadruped robots is commonly applied on rigid terrains with modelled contact dynamics. However, the robot traversing different terrains is more important for real application. In this paper, a single-leg prototype and a test platform are built. The Cartesian coordinates of the...

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Bibliographic Details
Main Authors: Songyuan Zhang, Hongji Zhang, Yili Fu
Format: Article
Language:English
Published: Wiley 2020-01-01
Series:Applied Bionics and Biomechanics
Online Access:http://dx.doi.org/10.1155/2020/8854411
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Summary:Locomotion control for quadruped robots is commonly applied on rigid terrains with modelled contact dynamics. However, the robot traversing different terrains is more important for real application. In this paper, a single-leg prototype and a test platform are built. The Cartesian coordinates of the foot-end are obtained through trajectory planning, and then, the virtual polar coordinates in the impedance control are obtained through geometric transformation. The deviation from the planned and actual virtual polar coordinates and the expected force recognized by the ground compliance identification system are sent to the impedance controller for different compliances. At last, several experiments are carried out for evaluating the performance including the ground compliance identification, the foot-end trajectory control, and the comparison between pure position control and impedance control.
ISSN:1176-2322
1754-2103