TY - GEN
T1 - Actively-compliant locomotion control with the hydraulic quadruped robot on rough terrain
AU - Lu, Haojian
AU - Gao, Junyao
AU - Xie, Lin
AU - Li, Xin
AU - Xu, Zhe
AU - Liu, Yi
AU - Zhao, Jingchao
AU - Cao, Haoxiang
AU - Zhao, Fangzhou
AU - Shi, Xuanyang
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/2
Y1 - 2015/9/2
N2 - This paper is authored to describe a control framework that is designated for hydraulically actuated quadruped robot to trot on rough terrain. In order to succeed in trotting on rough terrain, two controllers are synthesized: i) Dual Length Linear Inverted Pendulum Method (DLLIPM), ii) Active Compliance Control. The first controller computes the hydraulic quadruped robot's trajectory, which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. The second controller, in the meantime, utilizes the force sensors which are located at the bottom of the feet to calculate the joint displacements that are associated with ground reaction force errors, using admittance blocks. In addition to position feedback, these joint displacements are inserted to the position control loop and then updates the orientation input. In doing so, the hydraulic quadruped robot can perform the given locomotion task in an actively-compliant manner. Using the proposed frame work, the overall control performance is tested by hydraulic quadruped robot on rough terrain via simulation and the results turn out to be positive.
AB - This paper is authored to describe a control framework that is designated for hydraulically actuated quadruped robot to trot on rough terrain. In order to succeed in trotting on rough terrain, two controllers are synthesized: i) Dual Length Linear Inverted Pendulum Method (DLLIPM), ii) Active Compliance Control. The first controller computes the hydraulic quadruped robot's trajectory, which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. The second controller, in the meantime, utilizes the force sensors which are located at the bottom of the feet to calculate the joint displacements that are associated with ground reaction force errors, using admittance blocks. In addition to position feedback, these joint displacements are inserted to the position control loop and then updates the orientation input. In doing so, the hydraulic quadruped robot can perform the given locomotion task in an actively-compliant manner. Using the proposed frame work, the overall control performance is tested by hydraulic quadruped robot on rough terrain via simulation and the results turn out to be positive.
KW - DLLIPM
KW - active compliance control
KW - hydraulic quadruped robot
UR - http://www.scopus.com/inward/record.url?scp=84955245371&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2015.7237659
DO - 10.1109/ICMA.2015.7237659
M3 - Conference contribution
AN - SCOPUS:84955245371
T3 - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
SP - 1217
EP - 1222
BT - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Y2 - 2 August 2015 through 5 August 2015
ER -