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：2018
卷号：15
期号：6
DOI：10.1177/1729881418813235
语种：English
出版社：SAGE Publications
摘要：A motion control approach is proposed for hydraulic actuated quadruped robots, aiming to achieve active compliance and robust motion control. The approach is designed with a structure of three layers. Servo valve-controlled asymmetric hydraulic cylinder model is established to obtain the relationship between the desired torque and the control current signal, which is the bottom layer. The middle layer is based on the virtual model of the leg for active compliance. The upper layer considers the torso posture and velocity into planning the foot trajectories based on the spring loaded inverted pendulum model. Trotting gait simulations are conducted based on the proposed framework in the simulation software environment Webots. The motion control approach has been implemented on a robot prototype SCalf-II (SDU calf), where experiments have been conducted including omnidirectional trotting gait, lateral impact recovery and climbing slopes. The experiments demonstrate that the proposed approach can effectively control the hydraulic actuated robots.
关键词：Hydraulic actuated robot; active compliance; virtual model control; SLIP model; SCalf-II
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