Novel inverse dynamics control strategy with different phases for the quadruped robot

Li, Bin; Guo, Yajuan; Shao, Xuesong; Wang, Wei; Yi, Jianqiang

doi:10.1109/wcica.2012.6359071

Cited by 3 publications

(3 citation statements)

References 23 publications

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“…Each leg of the quadruped robot is regarded as a separated and serial manipulator, consisting of a virtual body and a leg of the quadruped robot [5], as shown in Fig. 2.…”

Section: B the Inverse Dynamicsmentioning

confidence: 99%

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Dynamics of a quadruped robot during locomotion

Wang

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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In this paper we analyze characteristics of the ground reaction force (GRF) experienced by the legs of the quadruped robot during stance phase in walk gait, in particular, when the height of center of gravity (COG) of the quadruped robot is changeable. We also build the dynamics model of the quadruped robot. Two dynamics equations during swing phase and stance phase are established, respectively. Additionally, we design a controller to adjust the height of COG of the quadruped robot. The controller uses the central pattern generator (CPG) model to generate basic rhythmic motion, and utilizes the discrete tracking differentiator (TD) to implement the transition between two different rhythmic medium values of the CPG. The combination of the CPG model and the discrete TD enables the quadruped robot to adjust the height of COG according to the environment. The ground reaction peak force and the joint torque of the quadruped robot increase with the reduction of the height of COG. Finally, we give a simulation example and the results, including an analysis of the vertical reaction force and the joint torque of the quadruped robot.

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“…Each leg of the quadruped robot is regarded as a separated and serial manipulator, consisting of a virtual body and a leg of the quadruped robot [5], as shown in Fig. 2.…”

Section: B the Inverse Dynamicsmentioning

confidence: 99%

“…dynamics control of the floating-base systems which relates the world coordinate system to the global environment [4]. Bin Li et al propose a novel dynamics model which supposes two different models according to the leg's state [5]. Wei Wang et al investigate the mediolateral reaction forces during straight walking and turning [6].…”

Section: Introductionmentioning

confidence: 99%

Dynamics of a quadruped robot during locomotion

Wang

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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“…With the centralized control method, we take into consideration the dynamical equations of motion, the interaction between the links, masses, and inertias. [3] [4] AARMS (15) 3 (2016) F. TAJTI, B. KOVÁCS, G. SZAYER, P. KORONDI, Z. SZÉKELY: Variable Robot Geometry Optimization… Mobile robots have usually only one link, and the robot cannot be divided into different parts for centralized motion control method, so the whole mobile robot can be considered as a point (the centre of gravity, virtual centre of motion). The velocity and the angular velocity of the centre of gravity define the motion of the robot (at constant speed).…”

Section: Introductionmentioning

confidence: 99%

Variable Robot Geometry Optimization Method to Avoid Tip Over Situations During Slow Motion on Unknown Terrains

Tajti¹,

Kovács²,

Szayer³

et al. 2016

AARMS

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This paper presents a parametrized stability control method for special slow motion field mobile robots, based on use cases from border surveillance. The concept uses the centre of gravity (COG) as the virtual centre of motion (VCM). The simplified robot geometry is an input parameter of the model, so it can work with different types of mobile robots, like holonomic-wheeled, differential-wheeled, steered, tracked, wheeled-tracked, segmented, etc. structures. This method resulted in the implementation of a flexible and universal control algorithm for transformable and hybrid drive mobile robots, where every parameter can be changed and recalculated for different applications or even in discrete time steps during the motion at a 3D path. The velocity reference, the angular velocity reference and the optimization parameter (for example gravity compensation) of the robot can be prescribed. The model was implemented in MATLAB and can be compiled to C for measurements and validation with test robots.

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Gait planning of crossing planar obstacles for a quadruped robot

Shao

Wang

2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Novel inverse dynamics control strategy with different phases for the quadruped robot

Cited by 3 publications

References 23 publications

Dynamics of a quadruped robot during locomotion

Dynamics of a quadruped robot during locomotion

Variable Robot Geometry Optimization Method to Avoid Tip Over Situations During Slow Motion on Unknown Terrains

Gait planning of crossing planar obstacles for a quadruped robot

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