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Journal of Zhejiang University SCIENCE A 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/jzus.A2200310


A stability locomotion-control strategy for quadruped robots with center-of-mass dynamic planning


Author(s):  Yangyang HAN, Guoping LIU, Zhenyu LU, Huaizhi ZONG, Junhui ZHANG, Feifei ZHONG, Liyu GAO

Affiliation(s):  School of Advanced Manufacturing, Nanchang University, Nanchang 330031, China; more

Corresponding email(s):   luzhenyu@ncu.edu.cn

Key Words:  Center-of-mass planning, Quadruped robot, Cooperative scheme, Ground reaction forces, Stability margin


Yangyang HAN, Guoping LIU, Zhenyu LU, Huaizhi ZONG, Junhui ZHANG, Feifei ZHONG, Liyu GAO. A stability locomotion-control strategy for quadruped robots with center-of-mass dynamic planning[J]. Journal of Zhejiang University Science A, 1998, -1(-1): .

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publisher="Zhejiang University Press & Springer",
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%A Yangyang HAN
%A Guoping LIU
%A Zhenyu LU
%A Huaizhi ZONG
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%A Feifei ZHONG
%A Liyu GAO
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T1 - A stability locomotion-control strategy for quadruped robots with center-of-mass dynamic planning
A1 - Yangyang HAN
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A1 - Huaizhi ZONG
A1 - Junhui ZHANG
A1 - Feifei ZHONG
A1 - Liyu GAO
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A2200310


Abstract: 
Locomotion stability is essential for controlling quadruped robots and adapting them to unstructured terrain. We propose a control strategy with center-of-mass (CoM) dynamic planning for the stable locomotion of these robots. The motion trajectories of the swing legs are synchronized with the CoM of the robot. To implement the synchronous control scheme, we adjusted the swing legs to form a support triangle. The strategy is applicable to both static walk gait and dynamic trot gait. In the motion control processes of the robot legs, the distribution of the ground reaction forces is optimized to minimize joint torque and locomotion energy consumption. We also used an improved joint-torque controller with varied controller coefficients in the stance and swing phases. The simulation and experimental results demonstrate that the robot can complete omnidirectional locomotion in both walk and trot gaits. At a given locomotion speed, the stability margins for the robot during walking and trotting were 27.25% and 37.25% higher, respectively, than in the scheme without CoM planning. The control strategy with energy consumption optimization (ECO) reduced the energy consumption of the robot in walk and trot gaits by 11.25% and 13.83%, respectively, from those of the control scheme without ECO.

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