A Smooth Gait Planning Framework for Quadruped Robot Based on Virtual Model Control

  • Jian Tian
  • Chao MaEmail author
  • Cheng Wei
  • Yang Zhao
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11743)


The smooth gait of robot plays an essential role in the locomotion, which influences by constraint from ground. Most of the planning algorithms centered on the characteristics of periodicity and amplitude of joint angles, and lost sight of the continuity of displacement and velocity of food trajectories. In this paper, the rhythmicity of robot body was studied in linear motion, according of which the smooth gait constrained by boundary conditions was planned by Hermite interpolation. In order to ensure the stability of robot posture during the movement, the strategy of virtual model control (VMC) was introduced and PD control method was used to track joint angles. The results and feasibility were verified by dynamics simulations finally.


Quadruped robot Smooth gait Planning framework Virtual model control 



This research was supported, in part, by the National Natural Science Foundation of China (No. 51875393) and by the China Advance Research for Manned Space Project (No. 030601).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Aerospace EngineeringHarbin Institute of TechnologyHarbinChina
  2. 2.Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and ApplicationsBeijing Institute of Spacecraft System EngineeringBeijingChina

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