A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 5 Issue 1
Jan.  2018

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Dawei Gong, Peng Wang, Shuangyu Zhao, Li Du and Yu Duan, "Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 382-388, Jan. 2018. doi: 10.1109/JAS.2017.7510790
Citation: Dawei Gong, Peng Wang, Shuangyu Zhao, Li Du and Yu Duan, "Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 382-388, Jan. 2018. doi: 10.1109/JAS.2017.7510790

Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom

doi: 10.1109/JAS.2017.7510790
Funds:

This work was supported by the National Science Fund for Distinguished Young Scholars of China 51225503

the National Natural Science Foundation of China 61603076

the Fundamental Research Funds for the Central Universities ZYGX2016J116

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  • Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of freedom. As a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3D model for quadruped robot based on spring loaded inverted pendulum (SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.

     

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