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：2013
卷号：10
期号：2
页码：148
DOI：10.5772/50979
语种：English
出版社：SAGE Publications
摘要：We present the Time-Pose control method for the trotting gait of a quadruped robot on flat ground and up a slope. The method, with brief control structure, real-time operation ability and high adaptability, divides quadruped robot control into gait control and pose control. Virtual leg and intuitive controllers are introduced to simplify the model and generate the trajectory of mass centre and location of supporting legs in gait control, while redundancy optimization is used for solving the inverse kinematics in pose control. The models both on flat ground and up a slope are fully analysed, and different kinds of optimization methods are compared using the manipulability measure in order to select the best option. Simulations are performed, which prove that the Time-Pose control method is realizable for these two kinds of environment.
关键词：Quadruped Robot; Time-Pose control method; Trotting Gait; Redundancy Optimization
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