Design and Verification of Real-time Plantar Force Optimization for Quadruped Robots in Dynamic Gait
CHEN Teng1,2, LI Yibin1,2, RONG Xuewen1,2
1. School of Control Science and Engineering, Shandong University, Jinan 250061, China;
2. Robotics Research Center, Shandong University, Jinan 250061, China
陈腾, 李贻斌, 荣学文. 四足机器人动步态下实时足底力优化方法的设计与验证[J]. 机器人, 2019, 41(3): 307-316.DOI: 10.13973/j.cnki.robot.180449.
CHEN Teng, LI Yibin, RONG Xuewen. Design and Verification of Real-time Plantar Force Optimization for Quadruped Robots in Dynamic Gait. ROBOT, 2019, 41(3): 307-316. DOI: 10.13973/j.cnki.robot.180449.
Abstract：In order to achieve the stable walking and optimal feet forces distribution for quadruped robots in a dynamic gait, a control framework based on the fusion of the full-scale virtual model and the dynamic model is proposed. The distribution of the virtual forces at the torso center and the feet forces in the support phase is transformed into a quadratic optimization problem. The optimal distribution of feet forces is achieved in real time through Gurobi library. The dynamical feedforward and the virtual model control methods are integrated in the swing phase to achieve smooth trajectory tracking. Through dynamic simulation software Webots, the method is compared with the basic position impedance control method on the quadruped robot platform. The results show that the method can reduce the impact force by about 30% in the ground interaction, and the stability of the robot movement is effectively improved.
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