Abstract
As the most widely-used method for motion control of quadruped robot, virtual mode control (VMC)can achieve compliant interaction between foot and ground at the cost of trajectory tracking precision. A fractional-order VMC (FOVMC) was proposed to improve the robustness and precision of VMC for single-leg tracking of hydraulic quadruped robot. And the implementation detail about the frequency domain modeling process of force control system for hydraulic-cylinder-driven joints and optimization-based FOVMC parameter tuning method were provided. Some trotting experiments were carried out on a quadruped robot platform to validate that the superiority of FOVMC over classical VMC in performance improvement of single-leg motion control.
| Translated title of the contribution | Fractional-Order Virtual Model Control for Single Leg of Hydraulic Quadruped Robot |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 304-311 |
| Number of pages | 8 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 42 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 1 Mar 2022 |