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Compliant landing of a trotting quadruped robot based on hybrid motion/force robust control

  • Mechanical Engineering, Control Science and Information Engineering
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Abstract

A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming (QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities (LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.

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Authors and Affiliations

  1. College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha, 410073, China

    Lin Lang  (郎琳), Jian Wang  (王剑), Qing Wei  (韦庆) & Hong-xu Ma  (马宏绪)

Authors
  1. Lin Lang  (郎琳)
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  2. Jian Wang  (王剑)
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  3. Qing Wei  (韦庆)
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  4. Hong-xu Ma  (马宏绪)
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Corresponding author

Correspondence to Jian Wang  (王剑).

Additional information

Foundation item: Project(61473304) supported by the National Natural Science Foundation of China; Project(2015AA042202) supported by Hi-tech Research and Development Program of China

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Lang, L., Wang, J., Wei, Q. et al. Compliant landing of a trotting quadruped robot based on hybrid motion/force robust control. J. Cent. South Univ. 23, 1970–1980 (2016). https://doi.org/10.1007/s11771-016-3254-2

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  • DOI: https://doi.org/10.1007/s11771-016-3254-2

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