文章基本信息

标题：A Dynamic Balancing Approach for a Quadruped Robot Supported by Diagonal Legs
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作者：Jian Meng ; Yibin Li ; Bin Li 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2015
卷号：12
DOI：10.5772/61542
语种：English
出版社：SAGE Publications
摘要：For legged robots, the most important task is to keep balance. This paper proposes a new balance control approach. To simplify the control complexity, first, LQR (linear quadratic regulator) control was used to obtain stable state feedback for the model. Then, the 6-DOF model was stabilized by dividing the whole robot into three separate parts. After that, VMC (virtual model control) was used to change the configuration of the joints. The simulation results showed that the proposed method allowed the quadruped robot to walk stably, even when certain types of disturbance were exerted on the models. In the simulation model, to mimic real conditions, noise was added to the sensors; the algorithm was then verified as still suitable for the quadruped robot.
关键词：Quadruped Robot; LQR; Balance Control; VMC