Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom

作     者：Dawei Gong Peng Wang Shuangyu Zhao Li Du Yu Duan 

作者机构：University of Electronic Science and Technology Chengdu 611731 China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2018年第5卷第1期

页      面：382-388页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 

基　　金：supported by the National Science Fund for Distinguished Young Scholars of China(51225503) the National Natural Science Foundation of China(61603076) the Fundamental Research Funds for the Central Universities(ZYGX2016J116) 

主　　题：Degree of freedom dynamic gait foot trajectory quadruped robot spring loaded inverted pendulum(SLIP) 

摘      要：Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of *** a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3 D model for quadruped robot based on spring loaded inverted pendulum(SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.