Abstract
To balance the diagonal gait of a quadruped robot, a dynamic balance control method is presented to improve the stability of the quadruped robot by adjusting its foot position. We set up a trunk-based coordinate system and a hip-based local coordinate system for the quadruped robot, established the kinematics equation of the robot, and designed a reasonable initial diagonal gait through the spring inverted pendulum model. The current trunk posture of the quadruped robot is obtained by collecting the data of its pitch and roll angle, and the foot position is predicted according to the current posture and initial gait of the quadruped robot. To reduce the impact of one leg landing on the ground and increase the stability of the quadruped robot, we adjust the landing point of the robot according to the landing time difference between the diagonal legs. The proposed method can adjust the body in such scenarios as planar walking and lateral impact resistance. It can reduce the disturbance during the robot motion and make the robot move smoothly. The validity of this method is verified by simulation experiments.
Highlights
Mobile robots can be divided into three types: legged-foot, caterpillar, and wheeled.Compared with caterpillar and wheeled robots, legged-foot robots have discrete landing locations and can choose the best landing locations for support
Experiments show that the method can significantly improve the stability of the quadruped robot under diagonal gait, reduce the adjustment time and improve the anti-interference ability
It can be concluded that when the robot is subjected to lateral impact, the addition of adjustment strategy can effectively suppress the substantial shaking of the body, the attitude angle changes little, and the body recovers stable faster
Summary
Mobile robots can be divided into three types: legged-foot, caterpillar, and wheeled. Legged-foot robots have more advantages in terrain adaptability, motion flexibility, and load capacity. In [8], a gait planning method and a posture adjustment strategy were designed based on the ZMP stability criterion, which can improve the stability and obstacle crossing ability of the quadruped robot effectively. VMC control method was proposed, which can realize stable walking of quadruped robot with dynamic gait and have a low computational cost. By adjusting the robot’s landing point, the impact of the ground on one leg landing first is reduced This method improves the stability of quadruped robots. A dynamic balance control method for the quadruped robot walking in diagonal gait was proposed. Experiments show that the method can significantly improve the stability of the quadruped robot under diagonal gait, reduce the adjustment time and improve the anti-interference ability
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