The quadruped robot adaptive control in trotting gait walking on slopes

作者：Shulong Zhang, Hongxu Ma, Yang Yu, Jian Wang · 发表于：AIP conference proceedings · 年份：2017 · DOI：10.1063/1.5005182 · 被引用次数：12 · 研究领域：Robotic Locomotion and Control、Winter Sports Injuries and Performance、Control and Dynamics of Mobile Robots

The quadruped robot can be decomposed into a planar seven-link closed kinematic chain in the direction of supporting line and a linear inverted pendulum in normal direction of supporting line. The ground slope can be estimated by using the body attitude information and supporting legs length. The slope degree is used in feedback, to achieve the point of quadruped robot adaptive control walking on slopes. The simulation results verify that the quadruped robot can achieves steady locomotion on the slope with the control strategy proposed in this passage.