首页|Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different speeds.Inspired by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this paper.As the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of gaits.The optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired motion.The gait and step frequency of the robot can automatically adapt to the change of speed.Several experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/s.The ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the ground.Experiments have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

Quadruped robotGait transitionAdaptive gaitEnergy efficiency

Jian Bi、Teng Chen、Xuewen Rong、Guoteng Zhang、Guanglin Lu、Jingxuan Cao、Han Jiang、Yibin Li

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The Center for Robotics,School of Control Science and Engineering,Shandong University,Ji Nan 250000,China

National Key Research and Development Program of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaOpen Research Projects of Zhejiang LabNational Natural Science Foundation of Shandong Province of China

2020AAA0108900919482016200319062203268619731852022NB0AB06ZR2022QF027

2024

10.1007/s42235-023-00432-z

仿生工程学报(英文版)
吉林大学

仿生工程学报(英文版)

CSTPCDEI
影响因子：0.837
ISSN：1672-6529
年,卷(期)：2024.21(1)
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