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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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/10/5/335 |
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| Summary: | 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. |
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| ISSN: | 2313-7673 |