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Solving position-posture deviation problem of multi-legged walking robots with semi-round rigid feet by closed-loop control

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Abstract

The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    Gang Chen  (陈刚), Bo Jin  (金波) & Ying Chen  (陈鹰)

Authors
  1. Gang Chen  (陈刚)
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  2. Bo Jin  (金波)
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  3. Ying Chen  (陈鹰)
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Corresponding author

Correspondence to Bo Jin  (金波).

Additional information

Foundation item: Project(51221004) supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China; Project supported by the Program for Zhejiang Leading Team of S&T Innovation, China

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Chen, G., Jin, B. & Chen, Y. Solving position-posture deviation problem of multi-legged walking robots with semi-round rigid feet by closed-loop control. J. Cent. South Univ. 21, 4133–4141 (2014). https://doi.org/10.1007/s11771-014-2408-3

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  • DOI: https://doi.org/10.1007/s11771-014-2408-3

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