Abstract
How to improve the adaptability in complex environment has always been a difficult problem in the control of legged robot. The conventional method based on dynamic model can not achieve the real-time control of the myriapod robot. Using for reference of bionic foot reflection mechanism, we bring forward a new arithmetic to control the body posture of the legged robot based on foot supporting force control. The basic theory is to set up virtual suspension model and realize the balance control of the body posture by controlling the forces on the feet instead of the moments of the joints. At the same time, we adopted an improved position-based impedance control strategy in this paper and realized the tracking of the scheduled feet force as well as the smooth transition of the swing leg from swinging phase to supporting phase.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Shih, C.L., Klein, C.A.: An Adaptive Gait for Legged Walking Machines over Rough Terrain. IEEE Trans. On Systems, Man, and Cybernetics 23(4), 1150–1155 (1993)
Klein, C.A., Briggs, R.L.: Use of Active Compliance in the Control of Legged Vehicles. IEEE Trans. Syst. Man, Cybern. 10(7), 393–400 (1980)
Gorinevsky, D.M., Shneider, A.Y.: Force Control in Locomotion of Legged Vehicles over Rigid and Soft Surfaces. Int. J. Robotics Research 9(2), 4–23 (1990)
Nagy, P.V., Whittaker, W.L., Desa, S.: A Walking Prescription for Statically- Stable Walkers Based on Walk/Terrain Interaction. In: IEEE Int. Conf. Robotics and Automation, pp. 149–156 (1992)
Yoneda, K., Iiyama, H., Hirose, S.: Sky-Hook Suspension Control of Quadruped Walking Vehicle. In: Int. Conf. on Robotics and Automation, pp. 999–1004 (1994)
Huang, Q.J., Fukuhara, Y.: Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot. Proceedings of the IEEE/RSJ, 5232–5237 (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Wang, Pf., Li, Mt., Sun, Ln. (2008). Body Posture Control of Wheeled Foot Quadruped Robot Based on Virtual Suspension Model. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_90
Download citation
DOI: https://doi.org/10.1007/978-3-540-88513-9_90
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
eBook Packages: Computer ScienceComputer Science (R0)