Abstract
In order to improve the adaptive behavior performance of the quadruped robot under uneven terrains, based on the locomotion characteristic of the trot gait, the robot is simplified as the model of the body and virtual leg. The virtual leg dynamics is established and analyzed. Also, on the basis of the dynamic model, the foothold and the trajectory during the stance duration are planned. Combined with the extern force exerted on the robot, the contact compliance control model is established to map to multi-DOF joints. The body posture balance could be achieved by compensating the foot position. The experiment is built in the uneven terrain with the trot gait, and the experimental result validates the feasibility of the method.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Raibert, M., Blankespoor, K., Nelson, G., et al.: Bigdog, the rough-terrain quadruped robot. In: Proceedings of the 17th World Congress, pp. 10822–10825 (2008)
Park, H., Chuah, M.Y., Kim, S., et al.: Quadruped bounding control with variable duty cycle via vertical impulse scaling. In: Intelligent Robots and Systems, pp. 3245–3252 (2014)
Hyun, D.J., Seok, S., Lee, J., et al.: High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah. Int. J. Robot. Res. 33(11), 1417–1445 (2014)
Sprowitz, A., Tuleu, A., Vespignani, M., et al.: Towards dynamic trot gait locomotion: design, control, and experiments with Cheetah-cub, a compliant quadruped robot. Int. J. Robot. Res. 32(8), 932–950 (2013)
Gehring, C., Coros, S., Hutter, M., et al.: Control of dynamic gaits for a quadrupedal robot. In: International Conference on Robotics and Automation, pp. 3287–3292 (2013)
Semini, C., Tsagarakis, N.G., Guglielmino, E., Focchi, M., Cannella, F., Caldwell, D.G.: Design of HyQ – a hydraulically and electrically actuated quadruped robot. Proc. Inst. Mech. Eng. Part I: J. Syst. Control Eng. 225(6), 831–849 (2011)
Ugurlu, B., Havoutis, I., Semini, C., et al.: Dynamic trot-walking with the hydraulic quadruped robot — HyQ: analytical trajectory generation and active compliance control. In: Intelligent Robots and Systems, pp. 6044–6051 (2013)
Chai, H., Meng, J., Rong, X., et al.: Design and implementation of SCalf, an advanced hydraulic quadruped robot. Robot 36(4), 486–491 (2014)
Wang, L., Wang, J., Wang, S., et al.: Strategy of foot trajectory generation for hydraulic quadruped robots gait planning. J. Mech. Eng. 49(1), 39–44 (2013)
Li, Y., Li, B., Rong, X., et al.: Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot. J. Shandong Univ. (Eng. Sci.) 41(05), 32–45 (2011)
Acknowledgements
This work was supported in part by National Natural Science Foundation of China (Grant No. 91748211) and the Grant 2016QNRC001.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Xu, P. et al. (2019). An Adaptive Behavior Under Uneven Terrains for Quadruped Robot. In: Sun, F., Liu, H., Hu, D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2018. Communications in Computer and Information Science, vol 1005. Springer, Singapore. https://doi.org/10.1007/978-981-13-7983-3_43
Download citation
DOI: https://doi.org/10.1007/978-981-13-7983-3_43
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-7982-6
Online ISBN: 978-981-13-7983-3
eBook Packages: Computer ScienceComputer Science (R0)