Compliant landing of a trotting quadruped robot based on hybrid motion/force robust control

A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired c...

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Bibliographic Details
Published in:Journal of Central South University 2016-08, Vol.23 (8), p.1970-1980
Main Authors: Lang, Lin, Wang, Jian, Wei, Qing, Ma, Hong-xu
Format: Article
Language:English
Subjects:
Contact angle
Contact force
Control Science and Information Engineering
Control systems
Control systems design
Engineering
Impact loads
Landing
Mechanical Engineering
Metallic Materials
Optimization
Quadratic programming
Robot dynamics
Robots
Robust control
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Summary:A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming (QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities (LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.
ISSN:2095-2899
2227-5223
DOI:10.1007/s11771-016-3254-2