Control of Quadruped Robot Based on Impedance and Virtual Model

doi:10.16182/j.issn1004731x.joss.21-0532

Abstract

Abstract:

In order to improve the motion stability of quadruped robot, a control method based on impedance and virtual model is proposed. The force-based impedance control method is used to control the leg swing phase to realize the more accurate trajectory tracking and leg compliance control. The virtual model control method is used to control the support phase to realize the attitude control of the robot body and the stable walking of the quadruped robot. Combined with the lateral stride strategy and the yaw angle control strategy based on virtual model, a robot anti-lateral impact control method is proposed, which ensures that the quadruped robot maintains balance and resumes its motion state after being subjected to lateral impact. The simulation results verify the effectiveness of the proposed control method.

Key words: quadruped robot, impedance control, virtual model control, lateral impact, balance recovery strategy

CLC Number:

TP242

Chikun Gong, Xunwei Wu, Lipeng Yuan. Control of Quadruped Robot Based on Impedance and Virtual Model[J]. Journal of System Simulation, 2022, 34(10): 2152-2161.

Figures/Tables 14

Fig. 1

Table 1

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Table 2

Simulation parameters

参数	数值
足端与地面接触刚度/(N/mm)	2 855
机器人与地面摩擦因数	0.35
步态周期/s	0.5
控制频率/Hz	250
$M d$ /kg	10
$B d$ /(N/(m·s^-1))	[800, 800]
$K d$ /(N/m)	[5 000, 4 000]
$K x$ /(N/m)	0
$K Z$ /(N/m)	7 000
$K θ$ /(N·m/rad)	8 000
$B x$ /(N/(m·s^-1))	1 000
$B Z$ /(N/(m·s^-1))	800
$B θ$ /(N·m/(rad·s^-1))	800
$K φ$ /(N·m/rad)	6 000
$B φ$ /(N·m/(rad·s^-1))	500

Table 2

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参数	数值	参数	数值
躯干质量/kg	96	小腿质量/kg	2.5
前后髋关节距离/m	1.1	髋部侧摆长度/m	0.075
左右髋关节距离/m	0.5	大腿长度/m	0.4
髋部侧摆质量/kg	2	小腿长度/m	0.36
大腿质量/kg	3.5

[1]	Xu Haidong, Gan Su, Ren Jie, Wang Binrui, Jin Yinglian. Gait CPG Adjustment for a Quadruped Robot Based on Hopf Oscillator [J]. Journal of System Simulation, 2017, 29(12): 3092-3099.
[2]	Hu Nan, Li Shaoyuan, Huang Dan, Gao Feng. Gait Planning and Control of Quadruped Robot with High Payload [J]. Journal of System Simulation, 2015, 27(3): 529-533.