Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation
Joint Authors
Zhang, Songyuan
Zhang, Hongji
Fu, Yili
Source
Applied Bionics and Biomechanics
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-22
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
Locomotion control for quadruped robots is commonly applied on rigid terrains with modelled contact dynamics.
However, the robot traversing different terrains is more important for real application.
In this paper, a single-leg prototype and a test platform are built.
The Cartesian coordinates of the foot-end are obtained through trajectory planning, and then, the virtual polar coordinates in the impedance control are obtained through geometric transformation.
The deviation from the planned and actual virtual polar coordinates and the expected force recognized by the ground compliance identification system are sent to the impedance controller for different compliances.
At last, several experiments are carried out for evaluating the performance including the ground compliance identification, the foot-end trajectory control, and the comparison between pure position control and impedance control.
American Psychological Association (APA)
Zhang, Songyuan& Zhang, Hongji& Fu, Yili. 2020. Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation. Applied Bionics and Biomechanics،Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1120200
Modern Language Association (MLA)
Zhang, Songyuan…[et al.]. Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation. Applied Bionics and Biomechanics No. 2020 (2020), pp.1-15.
https://search.emarefa.net/detail/BIM-1120200
American Medical Association (AMA)
Zhang, Songyuan& Zhang, Hongji& Fu, Yili. Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation. Applied Bionics and Biomechanics. 2020. Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1120200
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1120200