@inproceedings{a8915d07eac0419195c62b7caa2e53be,
title = "Torque Compensation Model and Touchdown Detection Model of the Hydraulic Quadruped Robot Controlled by VMC",
abstract = "In this paper, according to the different dynamic models of the support phase and the swing phase, the joint torque compensation of the support phase and the swing phase are given to compensate the joint torque of the hydraulic quadruped robot controlled by the virtual model control(VMC). This compensation can increase the tracking effect of the foot end on the swing trajectory, reduce the elasticity and damping coefficient of the virtual model method, and increase the flexibility of the leg. Then this paper establishes the touchdown detection function based on the joint torque obtained by the Lagrange dynamics equation and the joint torque obtained by the force sensor to determine the touch state of the foot of the quadruped robot to switch the phase of the leg. At the end of this paper, simulation and experiment prove that the compensation model and touchdown detection function model have feasibility and correctness.",
keywords = "Quadruped robot, Torque compensation, Touchdown detection, Virtual model control",
author = "Ranjiang Wang and Jiangbo Zhao and Junzheng Wang",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 34th Chinese Control and Decision Conference, CCDC 2022 ; Conference date: 15-08-2022 Through 17-08-2022",
year = "2022",
doi = "10.1109/CCDC55256.2022.10034130",
language = "English",
series = "Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3937--3943",
booktitle = "Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022",
address = "United States",
}