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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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2020/8854411 |
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| _version_ | 1832547036094791680 |
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| author | Songyuan Zhang Hongji Zhang Yili Fu |
| author_facet | Songyuan Zhang Hongji Zhang Yili Fu |
| author_sort | Songyuan Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-be9878377a874283a1bc495ba8f9e7dc |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-be9878377a874283a1bc495ba8f9e7dc2025-02-03T06:46:18ZengWileyApplied Bionics and Biomechanics1176-23221754-21032020-01-01202010.1155/2020/88544118854411Leg Locomotion Adaption for Quadruped Robots with Ground Compliance EstimationSongyuan Zhang0Hongji Zhang1Yili Fu2State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001, ChinaLocomotion 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.http://dx.doi.org/10.1155/2020/8854411 |
| spellingShingle | Songyuan Zhang Hongji Zhang Yili Fu Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation Applied Bionics and Biomechanics |
| title | Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation |
| title_full | Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation |
| title_fullStr | Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation |
| title_full_unstemmed | Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation |
| title_short | Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation |
| title_sort | leg locomotion adaption for quadruped robots with ground compliance estimation |
| url | http://dx.doi.org/10.1155/2020/8854411 |
| work_keys_str_mv | AT songyuanzhang leglocomotionadaptionforquadrupedrobotswithgroundcomplianceestimation AT hongjizhang leglocomotionadaptionforquadrupedrobotswithgroundcomplianceestimation AT yilifu leglocomotionadaptionforquadrupedrobotswithgroundcomplianceestimation |