Modeling and Robust Control of Quadruped Robot

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

“…For quadruped robots, commonly used control methods based on inverse dynamics include force control, [130] force/position hybrid control, [131] impedance control, [132] and robust control. [133,134] However, control systems based on overall dynamic equations also have shortcomings. Due to the complexity of the structure and the variability of the motion process, the calculation required for the overall dynamic equation is enormous.…”

“…This poses a challenge for the practical application of these systems. [134] Apart from contact reaction forces, quadruped robots can also encounter unknown forces during motion, makes overall dynamic modeling very difficult and poses great challenges to the control of quadruped robots. [135] The control method of inverse dynamics is commonly used in motion control of robots with fixed bases, such as manipulators [136,137] and parallel platforms.…”

Modeling and Robust Iterative Learning Control of a Quadruped Robot

“…For example, if Leg 2 in Fig. 1 be in the swing phase and other three legs be in contact with the ground, constraint equations could be written as: 07 and the dynamic equations of the quadruped robot in this phase will be as (5) with jacobian matrix specified using (6) and (7).…”

“…Lei sun et al [6] considered control problem of the quadruped robot under full support phase and simplified it as the problem of the tracking control of the trunk motion. They proposed a robust scheme to achieve the tracking goal.…”

Modeling and experimental evaluation of vibration reduction of hydraulic-driven joint with a MRF damper

“…Passive compliance refers to adding energy storage or absorption components such as spring and damping into the motion joint or mechanism to increase the flexibility of the robot when it interacts with the external environment. PUMA562 robot (Yang et al, 1993), investigation robot Scout-2 (Poulakakis et al, 2005), quadruped robot KOLT (Nichol et al, 2004), TIM-1 robot (Sun et al, 2007), and Tekken robot (Kimura et al, 2007) all use springs to form flexible mobile joints to adapt to the environment. However, the compliance parameters of these passive compliance control cannot be changed in real time, and the spring back process is easy to cause mechanical instability.…”