Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso
This paper presents the design and control of a quadruped robot equipped with a six-degree-of-freedom (6-<i>DOF</i>) bionic active torso based on a parallel mechanism. Inspired by the compliant and flexible torsos of quadrupedal mammals, the proposed torso structure enhances locomotion p...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/5/335 |
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| author | Yaguang Zhu Ao Cao Zhimin He Mengnan Zhou Ruyue Li |
| author_facet | Yaguang Zhu Ao Cao Zhimin He Mengnan Zhou Ruyue Li |
| author_sort | Yaguang Zhu |
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| description | This paper presents the design and control of a quadruped robot equipped with a six-degree-of-freedom (6-<i>DOF</i>) bionic active torso based on a parallel mechanism. Inspired by the compliant and flexible torsos of quadrupedal mammals, the proposed torso structure enhances locomotion performance by enabling coordinated motion between the torso and legs. A complete kinematic model of the bionic torso and the whole body of the quadruped robot is developed. To address the variation in inertial properties caused by torso motion, a model predictive control (<i>MPC</i>) strategy with a variable center of mass (<i>CoM</i>) is proposed for integrated whole-body motion control. Comparative simulations under trot gait are conducted between rigid-torso and active-torso configurations. Results show that the active torso significantly improves gait flexibility, postural stability, and locomotion efficiency. This study provides a new approach to enhancing biomimetic locomotion in quadruped robots through active torso-leg coordination. |
| format | Article |
| id | doaj-art-e207fcd7f00c4746a9050c95ceb5ab22 |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-e207fcd7f00c4746a9050c95ceb5ab222025-08-20T03:47:48ZengMDPI AGBiomimetics2313-76732025-05-0110533510.3390/biomimetics10050335Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel TorsoYaguang Zhu0Ao Cao1Zhimin He2Mengnan Zhou3Ruyue Li4Key Laboratory of Road Construction Technology and Equipment, Ministry of Education, Chang’an University, Xi’an 710064, ChinaKey Laboratory of Road Construction Technology and Equipment, Ministry of Education, Chang’an University, Xi’an 710064, ChinaKey Laboratory of Road Construction Technology and Equipment, Ministry of Education, Chang’an University, Xi’an 710064, ChinaKey Laboratory of Road Construction Technology and Equipment, Ministry of Education, Chang’an University, Xi’an 710064, ChinaKey Laboratory of Road Construction Technology and Equipment, Ministry of Education, Chang’an University, Xi’an 710064, ChinaThis paper presents the design and control of a quadruped robot equipped with a six-degree-of-freedom (6-<i>DOF</i>) bionic active torso based on a parallel mechanism. Inspired by the compliant and flexible torsos of quadrupedal mammals, the proposed torso structure enhances locomotion performance by enabling coordinated motion between the torso and legs. A complete kinematic model of the bionic torso and the whole body of the quadruped robot is developed. To address the variation in inertial properties caused by torso motion, a model predictive control (<i>MPC</i>) strategy with a variable center of mass (<i>CoM</i>) is proposed for integrated whole-body motion control. Comparative simulations under trot gait are conducted between rigid-torso and active-torso configurations. Results show that the active torso significantly improves gait flexibility, postural stability, and locomotion efficiency. This study provides a new approach to enhancing biomimetic locomotion in quadruped robots through active torso-leg coordination.https://www.mdpi.com/2313-7673/10/5/335bionic torsocoordinated locomotionmodel predictive controlvariable mass center |
| spellingShingle | Yaguang Zhu Ao Cao Zhimin He Mengnan Zhou Ruyue Li Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso Biomimetics bionic torso coordinated locomotion model predictive control variable mass center |
| title | Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso |
| title_full | Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso |
| title_fullStr | Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso |
| title_full_unstemmed | Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso |
| title_short | Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso |
| title_sort | coordinated locomotion control for a quadruped robot with bionic parallel torso |
| topic | bionic torso coordinated locomotion model predictive control variable mass center |
| url | https://www.mdpi.com/2313-7673/10/5/335 |
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