@inproceedings{a7d1064e480d44d2b6795bb65c7210f2,
title = "Fractional-order Virtual Model Control for Trotting Motion of Quadruped Robot",
abstract = "Virtual model control (VMC) is the most widely-used method for motion control of quadruped robot. VMC could decrease the abrupt ground reaction force and realize compliant interaction between foot and ground at the cost of control precision. To improve the robustness and precision of VMC, we integrate a fractional-order virtual damper with the classical VMC and propose a fractional-order VMC (FOVMC) for quadruped robot trotting motion. And we provide the implementation details about optimization-based FOVMC parameter tuning method and carry out the trotting experiments on the quadruped robot platform. The experiment results demonstrate that FOVMC could improve the precision of single-leg motion control and achieve a better whole-body trotting performance than classical VMC.",
keywords = "Fractional-order calculus, Quadruped robot, Trotting, Virtual model control",
author = "Jiangbo Zhao and Shicheng Ma and Shanshuai Niu and Junzheng Wang",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 32nd Chinese Control and Decision Conference, CCDC 2020 ; Conference date: 22-08-2020 Through 24-08-2020",
year = "2020",
month = aug,
doi = "10.1109/CCDC49329.2020.9164655",
language = "English",
series = "Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4935--4942",
booktitle = "Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020",
address = "United States",
}