NDLI: Compliance control based for a quadruped robot walking over rough terrain

Content Provider	IEEE Xplore Digital Library
Author	Jiaqi Xu Lin Lang Honglei An Hongxu Ma Kaiying Zhu
Copyright Year	2015
Description	Author affiliation: PLA Special Oper. Univ., Guangzhou, China (Kaiying Zhu) \|\| Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China (Jiaqi Xu; Lin Lang; Honglei An; Hongxu Ma)
Abstract	It is well-known that the walking gait for quadruped robots has great potential to travel over rough terrain because of its higher flexibility and better environment adaptability. This paper presents a control framework for a quadruped robot walking over rough terrain, which includes such features: First, a preview controller is designed to create an appropriate body trajectory to realize the desired ZMP; Second, a new optimal force distribution is presented by minimizing the sum of the weighted torque efforts of the robot; Third, a contact force based compliance controller is designed to increase robustness in face of unknown and unanticipated disturbances. Simulations were performed with no four feet supporting period, the robot model successfully fast walking over rough terrain and going upstairs and downstairs. Then in the experiments, the quadruped robot achieved going upstairs with a stair of 0.15m. Simulations and experiments demonstrate the effectiveness of our compliance control strategy.
Starting Page	348
Ending Page	353
File Size	854078
Page Count	6
File Format	PDF
e-ISBN	9781467371896
DOI	10.1109/CAC.2015.7382523
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-27
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Jacobian matrices Walking gait Torque Robot kinematics Force Quadruped robot Preview control Force distribution Compliance control Foot
Content Type	Text
Resource Type	Article

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