One-legged hop of compliance control based on minimum-jerk

Abstract

Aiming at the trajectory planning and compliance of the one-legged hop of a quadruped robot, a method for designing the optimal trajectory of the bouncing by minimizing the jerk index is proposed, and active compliance control is used to reduce the impact of the end of the foot and improve the compliance of the one-legged. First, design a one-legged bounce strategy. The bounce is divided into three phases: take-off phase, vacant phase, and buffer phase, and trajectory optimization is performed for each phase. Secondly, a compliance control method is designed. During the bouncing process, the impact of the foot end is large, which will affect the stability of the robot and even destroy the mechanical structure of the leg. The joint level adopts force-position mixed control, and the one-legged level adopts impedance control to eliminate the impact of ground impact on one-legged. Finally, a one-legged model of a quadruped robot was established in the Vortex multi-body dynamics system. Simulation experiments have proved the feasibility of trajectory optimization and compliance control.