Specific Complex Locomotion Skills Control for Quadruped Robots

XU Peng;ZHAO Jianxin;FAN Wenhui;QIU Tianqi;JIANG Lei;LIANG Zhenjie;LIU Yufei

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  • Sponsored by: China Association for Science and Technology (CAST)

    Editor-In-Chief: Xu Yida

    ISSN 1000-1093

    　

  • Hosted By: China Ordnance Society

    Published By: Acta Armamentarii

    CN 11-2176/TJ

Acta Armamentarii, a Chinese monthly journal, was first published in 1979. The journal is supervised by China Association for Science and Technology, sponsored by China Ordnance Society，and edited and published by Editorial Board of Acta Armamentarii. The Journal is included in all important domestic databases，and also collected by Engineering Index (EI, USA), Chemical Abstracts (CA, USA), Science Abstracts (SA, UK）, Abstract Journal (AJ, Russia), and Current Bibliography on Science and Technology(CBST).Acta Armamentarii has been selected into the journal Of Ordnance Science and Technology (Weapons Industry) Field Of High Quality Scientific and Technological Periodical Classification Catalogue (2022 edition), ranking T1, and the journal of Automotive Engineering Field of High Quality Scientific and technological Periodical classification Catalogue, ranking T2.
Acta Armamentarii ›› 2023, Vol. 44 ›› Issue (S2) : 135-145. DOI: 10.12382/bgxb.2023.0874
Paper

Specific Complex Locomotion Skills Control for Quadruped Robots

  • XU Peng1,2,3*，ZHAO Jianxin2,3，FAN Wenhui1, QIU Tianqi2,3，JIANG Lei2,3，LIANG Zhenjie2,3，LIU Yufei2,3
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Abstract

A complex locomotion behavior control method is proposedto improve the locomotion diversity and terrain adaptability of quadruped robot. A dynamics model for the quadruped robots is established, and then the offline rolling optimization is predicted to generate the desired trajectory of robot's complex locomotion behavior. The locomotiontrajectoriesof robot under more comprehensive nonlinear constrains, such as kinematics, joint torque, contact force, locomotion state, and terrain height,etc, are optimized. An online trajectory tracker and a foot placement hopping controller are designed to realize the online control of the quadruped robot. The proposed method is evaluated in dynamic simulation environment of multi complex locomotion. The robot can achieve front jump, backflip, forward flip and rotary jump, and can also jump over obstacles according to the given terrain information. Finally, the online trajectory tracking controller is migrated to the physical prototype of the quadruped robot, and the forward jumping test of the quadruped robot is completed. The experimental results show that the proposed method can be used effectively to achieve the stable control of various specific complex locomotion motion skills for the quadruped robot.

Key words

quadrupedrobot / complexbehavior / off-linerollingoptimizationprediction / on-linetrajectorytrackingcontroller

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XU Peng，ZHAO Jianxin，FAN Wenhui, QIU Tianqi，JIANG Lei，LIANG Zhenjie，LIU Yufei. Specific Complex Locomotion Skills Control for Quadruped Robots. Acta Armamentarii. 2023, 44(S2): 135-145 https://doi.org/10.12382/bgxb.2023.0874

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