Research on Four-legged Robot Control Based on Virtual Model
In order to improve the stability of the four-legged robot,the three-dimensional force model and velocity estimation method of the four-legged robot are used to calculate the virtual force of the supporting leg.The mapping relationship between foot virtual force and joint force is established by Jacobian matrix,and the motion trajectory of the desired swinging leg is planned in real time.The foot coordinate of the swinging leg is connected with the desired swinging trajectory by virtual component,and the virtual model control of the swinging leg is realized by the errors of both.The dynamic simulation model of the quadruped robot was established and simulated in Gazebo in ROS,and the entity experiment of the quadruped robot was completed.The results show that the control method can effectively control the stable motion of the quadruped robot.
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