Gait Planning and Control of Quadruped Robot with High Payload

Authors

Hu Nan, 1. Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai Jiaotong University, Shanghai 200240, China;;
Shaoyuan Li, 1. Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai Jiaotong University, Shanghai 200240, China;;
Huang Dan, 2. School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China;;
Gao Feng, 3. School of Mechanical Engineering, State Key Laboratory of mechanical system and vibration Shanghai Jiaotong University, Shanghai 200240, China;

Abstract

Abstract: A position controller for a quadruped robot with high payload was proposed. The robot was developed by the lab, and the high payload capacity was realized by the specific design of its actuation system, integrating novel high precision actuators, and by its legs, composed by a new family of parallel mechanisms. The foot trajectory was scheduled based on the Bezier curve in order to improve the stability of quadruped robot. The performance and efficiency of the proposed methods were verified by simulation and experiments.

Recommended Citation

Nan, Hu; Li, Shaoyuan; Dan, Huang; and Feng, Gao (2020) "Gait Planning and Control of Quadruped Robot with High Payload," Journal of System Simulation: Vol. 27: Iss. 3, Article 12.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss3/12

First Page

529

Revised Date

2014-04-29

DOI Link

https://doi.org/

Last Page

533

CLC

TP24

Recommended Citation

Hu Nan, Li Shaoyuan, Huang Dan, Gao Feng. Gait Planning and Control of Quadruped Robot with High Payload[J]. Journal of System Simulation, 2015, 27(3): 529-533.