Virtual Model Control for Quadruped Robots

Chen, Guanrong; Guo, Sheng; Hou, Bowen; Wang, Junzheng

doi:10.1109/access.2020.3013434

Cited by 30 publications

(18 citation statements)

References 37 publications

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“…The MPC controller solves the most optimal ground contact force and moment, therefore, the inequality constraints govern the contact forces in x and y direction are within the friction pyramid (17), where µ is the friction coefficient. The contact forces in z-direction should also fall within the upper and lower bounds of force (18), where lower bound should be greater than zero.…”

Section: B Mpc Formulationmentioning

confidence: 99%

See 1 more Smart Citation

Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots

Li¹,

Nguyen²

2021

Preprint

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In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. In specific, we present a formulation of MPC designed for 10 degree-of-freedom (DoF) bipedal robots using a simplified rigid body dynamics with input forces and moments. This MPC controller will calculate the optimal inputs applied to the robot, including 3-D forces and 2-D moments at each foot. These desired inputs will then be generated by mapping these forces and moments to motor torques of 5 actuators on each leg. We evaluate our proposed control design on physical simulation of a 10 degree-of-freedom (DoF) bipedal robot. The robot can achieve fast walking speed up to 1.6 m/s on rough terrain, with accurate velocity tracking. With the same control framework, our proposed approach can achieve a wide range of dynamic motions including walking, hopping, and running using the same set of control parameters.

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Section: B Mpc Formulationmentioning

confidence: 99%

“…The swing leg force can be computed by treating the foot attached to a virtual spring-damper system [17]. The foot weight is reasonable to be neglected since it is very small compared to the robot body [13].…”

Section: Swing Leg Controlmentioning

confidence: 99%

Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots

Li¹,

Nguyen²

2021

Preprint

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“…Currently, there are many ways to control robot body balance. The classical control methods include Zero Moment Point (ZMP) [6][7][8], Virtual Model Control (VMC) [9][10][11], Central Pattern Generator (CPG) [12,13], and Spring Loaded Inverted Pendulum (SLIP) [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Balance Control of a Quadruped Robot Based on Foot Fall Adjustment

et al. 2022

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To balance the diagonal gait of a quadruped robot, a dynamic balance control method is presented to improve the stability of the quadruped robot by adjusting its foot position. We set up a trunk-based coordinate system and a hip-based local coordinate system for the quadruped robot, established the kinematics equation of the robot, and designed a reasonable initial diagonal gait through the spring inverted pendulum model. The current trunk posture of the quadruped robot is obtained by collecting the data of its pitch and roll angle, and the foot position is predicted according to the current posture and initial gait of the quadruped robot. To reduce the impact of one leg landing on the ground and increase the stability of the quadruped robot, we adjust the landing point of the robot according to the landing time difference between the diagonal legs. The proposed method can adjust the body in such scenarios as planar walking and lateral impact resistance. It can reduce the disturbance during the robot motion and make the robot move smoothly. The validity of this method is verified by simulation experiments.

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“…Nowadays, legged robots have been a research hotspot and gained various attention [ 1 , 2 , 3 , 4 ]. Quadruped robots have the advantages of fast motion speed, high flexibility, strong terrain adaptability, and high stability [ 5 ], which results in their great application prospects in material transportation, engineering exploration, rescue, and military investigation. Therefore, the research of quadruped robot has an important theoretical significance and a practical value.…”

Section: Introductionmentioning

confidence: 99%

Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Qian

Wang

et al. 2020

Sensors

Self Cite

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Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

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Virtual Model Control for Quadruped Robots

Cited by 30 publications

References 37 publications

Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots

Force-and-moment-based Model Predictive Control for Achieving Highly Dynamic Locomotion on Bipedal Robots

Balance Control of a Quadruped Robot Based on Foot Fall Adjustment

Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

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