Contact force based compliance control for a trotting quadruped robot

Author

Jiaqi Xu ; Lin Lang ; Hongxu Ma ; Qing Wei

Author_Institution

Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China

fYear

2015

fDate

23-25 May 2015

Firstpage

5144

Lastpage

5149

Abstract

In these paper, a compliance control strategy based on force control for quadruped trot gait locomotion over unperceived rough terrain. To avoid interference of environmental disturbance and unknown model characters, a sliding mode based controller is designed to control the position/posture of the robot torso. The force distribution and control modules calculate desired contact force by eliminating interaction force between the stance legs. Simulations and experimental results demonstrate the effectiveness of our compliance control strategy as the quadruped robot successfully trotting over rough terrain.

Keywords

compliance control; control system synthesis; force control; legged locomotion; position control; variable structure systems; compliance control strategy; contact force; environmental disturbance; force control; force distribution; interference avoidance; position control; posture control; quadruped trot gait locomotion; robot torso; sliding mode based controller design; stance legs; trotting quadruped robot; unknown model characters; Foot; Force; Legged locomotion; Mathematical model; Robot kinematics; Torso; Compliance Control; Force Control; Quadruped Robot; Trot Gait;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2015 27th Chinese

Conference_Location

Qingdao

Print_ISBN

978-1-4799-7016-2

Type

conf

DOI

10.1109/CCDC.2015.7162790

Filename

7162790