MENG Jian, LI Yibin, LI Bin. Control Method and Its Implementation of Quadruped Robot in Omni-directional Trotting Gait[J]. ROBOT, 2015, 37(1): 74-84. DOI: 10.13973/j.cnki.robot.2015.074
Citation: MENG Jian, LI Yibin, LI Bin. Control Method and Its Implementation of Quadruped Robot in Omni-directional Trotting Gait[J]. ROBOT, 2015, 37(1): 74-84. DOI: 10.13973/j.cnki.robot.2015.074

Control Method and Its Implementation of Quadruped Robot in Omni-directional Trotting Gait

  • For a quadruped robot to implement omni-directional moving on horizontal planes and slopes, a control method based on trotting gait is proposed. Based on the kinematic equation and bionic gait planning method derived, the motion in plane is decoupled into three parts to reduce the complexity of motion control: forward motion, lateral motion and rotary motion. Firstly, the motion speeds of the three directions are controlled by modifying the amplitude of the oscillation of these parts. Then the omni-directional moving control is implemented in horizontal plane by overlaying the three parts of motion. After that, the omni-directional control for the robot trotting on slopes is implemented by mapping the positions of the toes based on the planar omni-directional moving control method. Lastly, simulations and experiments on the physical prototype are implemented on horizontal planes and slopes. The difference among the pedometer data, the simulation data and the physical prototype experimental results is within an acceptable range, which proves that the speed control and the decoupling of the motion are realized effectively with the proposed method, and the correctness and validity of the method is verified.
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