Lateral impact rejection control strategy of quadruped robot with active trunk joint based on VHIP model
This paper proposes a capture point control strategy based on a variable height inverted pendulum(VHIP)model to enhance the lateral impact resistance of the quadruped robot with active trunk joint.The lateral movement of the robot with the Trot gait is abstracted into a VHIP capture point model,and the impact type is determined by the zero moment point(ZMP).The ideal lateral foothold is planned according to the disturbance characteristics of the robot after the impact,and the trunk joint motion is planned by using the energy model of the center of mass trajectory.On this basis,the central pattern generator(CPG)is used to generate joint control signals,and the ro-bot's yaw attitude adjustment method and trunk-leg coupling strategy are given after impact.The simulation and experimental results demonstrate that the control strategy proposed in this paper can decrease the amplitude of dis-turbances upon impact with the body,and compared with the traditional capture point strategy,it can effectively suppress the yaw of the body and shorten the lateral instantaneous capture distance of the robot.
quadruped robotvariable height inverted pendulum(VHIP)central pattern generator(CPG)lateral anti-interferencecapture point theory
万方数据
维普
