首页|Studies from University of Shanghai for Science and Technology Further Understan ding of Robotics (A composite motion control method for quadruped robots in trot gait)
Studies from University of Shanghai for Science and Technology Further Understan ding of Robotics (A composite motion control method for quadruped robots in trot gait)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators publish new report on ro botics. According to news reporting from the University of Shanghai for Science and Technology by NewsRx journalists, research stated, "This work aims to addres s the issues of instability in trot gait walking and poor terrain adaptability i n rugged environments under conventional control strategies for quadruped robots by proposing a novel composite control strategy." Financial supporters for this research include Jiangsu Province General Program of China; National Key Research And Development Program of China. Our news reporters obtained a quote from the research from University of Shangha i for Science and Technology: "During the support phase, a separated force-posit ion mixing control method is employed, utilizing gravity-compensated PD (Proport ional Derivative) control at the lateral swing and knee joints while employing p osition control at the hip joint. During the swing phase, VMC (Virtual Model Con trol) is used to construct three sets of virtual spring-damper components, guidi ng the foot to move along a predetermined trajectory and converting virtual forc es into joint torques for the swinging leg. At the body, IMU (Inertial Measureme nt Unit) feedback data combined with PI (Proportional Integral) control is used to adjust leg length and maintain the robot's posture stability."
University of Shanghai for Science and T echnologyEmerging TechnologiesMachine LearningNano-robotRobotics
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