High Dynamic Bounding and Jumping Motion of Quadruped Robot Based on Stable Optimization Control
作者机构：School of Mechatronical EngineeringBeijing Institute of Technology100081 BeijingChina Key Laboratory of Biomimetic Robots and SystemsMinistry of EducationBeijing 100081China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2024年第21卷第1期
页 面：101-111页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程]
基 金：supported by the National Key Research Program of China 2018AAA0100103
主 题：Quadruped robot High dynamic motion control-Periodic limit cycle Trajectory optimization
摘 要：Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped *** method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum *** the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is *** switching and landing stability control are also ***,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.
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