Jumping Gait Control of Hydraulic Quadruped Robot
Aiming at the jumping gait control of a hydraulic quadruped robot, the jumping process of the quadruped robot is analyzed based on the springloaded inverted pendulum (SLIP) model theory. Adopting decoupled control ideas, the control motion is divided into horizontal motion control, vertical motion c...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Harbin University of Science and Technology Publications
2021-02-01
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| Series: | Journal of Harbin University of Science and Technology |
| Subjects: | |
| Online Access: | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1917 |
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| Summary: | Aiming at the jumping gait control of a hydraulic quadruped robot, the jumping process of the quadruped robot is analyzed based on the springloaded inverted pendulum (SLIP) model theory. Adopting decoupled control ideas, the control motion is divided into horizontal motion control, vertical motion control, and body attitude control. Speed adjustment in the horizontal direction is achieved by adjusting the relative ground contact angle, and energy compensation is performed in the ground contact phase. We adjust the pitch attitude with the fuselage, complete the control of the jumping gait, and establish a virtual prototype in the simulation software for simulation analysis. The speed of the jumping process, the height of the jumping and the force of the end spring are obtained. Finally, the test is performed on a hydraulic quadruped robot platform, and it i` s proved that the method can realize the stable periodic jumping motion of the quadruped robot. |
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| ISSN: | 1007-2683 |