Specific Complex Locomotion Skills Control for Quadruped Robots

doi:10.12382/bgxb.2023.0874

Abstract

Abstract:

A complex locomotion behavior control method is proposedto improve the locomotion diversity and terrain adaptability of quadruped robot. A dynamics model for the quadruped robots is established, and then the offline rolling optimization is predicted to generate the desired trajectory of robot’s complex locomotion behavior. The locomotiontrajectoriesof robot under more comprehensive nonlinear constrains, such as kinematics, joint torque, contact force, locomotion state, and terrain height,etc, are optimized. An online trajectory tracker and a foot placement hopping controller are designed to realize the online control of the quadruped robot. The proposed method is evaluated in dynamic simulation environment of multi complex locomotion. The robot can achieve front jump, backflip, forward flip and rotary jump, and can also jump over obstacles according to the given terrain information. Finally, the online trajectory tracking controller is migrated to the physical prototype of the quadruped robot, and the forward jumping test of the quadruped robot is completed. The experimental results show that the proposed method can be used effectively to achieve the stable control of various specific complex locomotion motion skills for the quadruped robot.

Key words: quadruped robot, complex behavior, off-line rolling optimization prediction, on-line trajectory tracking controller

CLC Number:

TP242.3

XU Peng, ZHAO Jianxin, FAN Wenhui, QIU Tianqi, JIANG Lei, LIANG Zhenjie, LIU Yufei. Specific Complex Locomotion Skills Control for Quadruped Robots[J]. Acta Armamentarii, 2023, 44(S2): 135-145.

Figures/Tables 15

Fig.1 Quadruped robot model

Fig.2 Dynamics model of quadruped robot

Fig.3 Block diagramof complex behavior controlof quadruped robot

Fig.4 Backflip sequence of quadruped robot

Fig.5 Forward flip sequence of quadruped robot

Fig.6 Forward jump sequence of quadruped robot

Fig.7 Rotary jump sequence of quadruped robot

Fig.8 Backflip data of quadruped robot

Fig.9 Forward flip data of quadruped robot

Fig.10 Forward jump data of quadruped robot

Fig.11 Rotary jump data of quadruped robot

Fig.12 Jumpobstacles sequence of quadruped robot

Fig.13 Jumpobstacles data of quadruped robot

Fig.14 Forward jump sequenceof physical prototype

Fig.15 Forward jump data of physical prototype

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