Motion control of upward jumping step for SLIP model of legged robot
The existence of steps presents significant hurdles to the motion stability of the legged robot because of uneven ground.The spring-loaded inverted pendulum(SLIP)model is an excellent template for studying the legged robot.Whether it can complete the action of jumping up the step is closely related to its leg swing angle,jump position and jump height.Because it is easy to cause motion failure by adjusting the swing angle law of the leg of the model,this paper introduces a virtual spring leg into the algorithm,determines a reasonable jump position according to the operation law of the virtual spring leg,and controls the jump height according to the jump position to complete the action of the jump step.Finally,multiple sets of simulations have been carried out by simulation software.The results show that the algorithm in this paper divides the jump interval reasonably,controls the jump height accurately,and can realize the stable movement of SLIP model before and after jumping steps.
万方数据
维普
