Gait Planning and Control of Quadruped Robot with High Payload

Journal of System Simulation ›› 2015, Vol. 27 ›› Issue (3): 529-533.

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Gait Planning and Control of Quadruped Robot with High Payload

Hu Nan¹, Li Shaoyuan¹, Huang Dan², Gao Feng³

1. Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai Jiaotong University, Shanghai 200240, China;
2. School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China;
3. School of Mechanical Engineering, State Key Laboratory of mechanical system and vibration Shanghai Jiaotong University, Shanghai 200240, China

Received:2014-04-15 Revised:2014-04-29 Online:2015-03-08 Published:2020-08-20

Abstract

Abstract: A position controller for a quadruped robot with high payload was proposed. The robot was developed by the lab, and the high payload capacity was realized by the specific design of its actuation system, integrating novel high precision actuators, and by its legs, composed by a new family of parallel mechanisms. The foot trajectory was scheduled based on the Bezier curve in order to improve the stability of quadruped robot. The performance and efficiency of the proposed methods were verified by simulation and experiments.

Key words: quadruped robot, gait planning, even terrain, trajectory planning

CLC Number:

TP24

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.

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Gait Planning and Control of Quadruped Robot with High Payload

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