Control of Static Walking Gait of Load Carrying Quadruped Walking Vehicle Based on Virtual Components

TAN Yongying;CHAO Zhiqiang;JIN Yi;WANG Fei

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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 ›› 2019, Vol. 40 ›› Issue (12) : 2570-2579. DOI: 10.3969/j.issn.1000-1093.2019.12.023
Paper

Control of Static Walking Gait of Load Carrying Quadruped Walking Vehicle Based on Virtual Components

  • TAN Yongying1, CHAO Zhiqiang1, JIN Yi1, WANG Fei2
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Abstract

The traditional static gait control method based on inverse kinematics or inverse dynamics is liable to produce a large impact between the feet and the ground, which causes a large tracking error of vehicle body trajectory. A virtual-components-based static gait control method is proposed to achieve the static gait compliance of load-carrying quadruped walking vehicle. The proposed method is divided into two parts: vehicle body motion control and swinging leg control. The virtual spring damper elements are added to the vehicle body's and swing leg's degrees of freedom, respectively, so as to convert the control of vehicle body and the swing leg to the control of virtual forces. And the sequential quadratic programming method is used to assign the virtual forces of vehicle body to the supporting legs. Based on the Jacobian matrix of each leg, the joint torques of supporting legs and swing leg are obtained. A state machine of vehicle’s static gait is designed. MATLAB and ADAMS are used to establish the simulation models for the quadruped walking vehicle, and the co-simulations are carried out for the quadruped walking vehicle. The simulated results show thatthe virtual-components-based control method enables the vehicle to walk on rough terrain in a stable gait.The vehicle is able to adapt to the change of terrain, and a impact between the feet and the ground is reduced by using the proposed control method.Key

Key words

quadrupedwalkingvehicle / loadcarrying / staticgait / walkingcontrol / virtualcomponent

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TAN Yongying, CHAO Zhiqiang, JIN Yi, WANG Fei. Control of Static Walking Gait of Load Carrying Quadruped Walking Vehicle Based on Virtual Components. Acta Armamentarii. 2019, 40(12): 2570-2579 https://doi.org/10.3969/j.issn.1000-1093.2019.12.023

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第40卷
第12期2019年12月兵工学报ACTA
ARMAMENTARIIVol.40No.12Dec.2019

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