Control of Quadruped Robot Based on Impedance and Virtual Model

Authors

Chikun Gong, 1.School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;Follow
Xunwei Wu, 1.School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;
Lipeng Yuan, 2.School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;

Abstract

Abstract: In order to improve the motion stability of quadruped robot, a control method based on impedance and virtual model is proposed. The force-based impedance control method is used to control the leg swing phase to realize the more accurate trajectory tracking and leg compliance control. The virtual model control method is used to control the support phase to realize the attitude control of the robot body and the stable walking of the quadruped robot. Combined with the lateral stride strategy and the yaw angle control strategy based on virtual model, a robot anti-lateral impact control method is proposed, which ensures that the quadruped robot maintains balance and resumes its motion state after being subjected to lateral impact. The simulation results verify the effectiveness of the proposed control method.

Recommended Citation

Gong, Chikun; Wu, Xunwei; and Yuan, Lipeng (2022) "Control of Quadruped Robot Based on Impedance and Virtual Model," Journal of System Simulation: Vol. 34: Iss. 10, Article 5.
DOI: 10.16182/j.issn1004731x.joss.21-0532
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss10/5

First Page

2152

Revised Date

2021-08-07

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.21-0532

Last Page

2161

CLC

TP242

Recommended Citation

Chikun Gong, Xunwei Wu, Lipeng Yuan. Control of Quadruped Robot Based on Impedance and Virtual Model[J]. Journal of System Simulation, 2022, 34(10): 2152-2161.

DOI

10.16182/j.issn1004731x.joss.21-0532