Abstract
Aiming at the problem that plantar position of hydraulic quadruped robot is susceptible to rigid impacts when walking on hard roads, which is resulted in poor motion posture stability, a method for predicting plantar force of the hydraulic quadruped robot was proposed. On the basis of analyzing structure of the hydraulic quadruped robot, a force control model of hydraulic servo system according to kinematics and mechanics model was constructed. Then, an improved adaptive cuckoo optimized BP neural network algorithm was used to establish plantar force predictive control model, feasibility of the algorithm was verified with simulation and comparative analysis. Finally, a KL prototype of the hydraulic quadruped robot was used to test for the plantar force of rigid ground walking. The results show that the method may effectively enhance leg flexibility of the hydraulic quadruped robot and improve stability of motion posture.
| Translated title of the contribution | Predictive Control of Plantar Force and Motion Stability of Hydraulic Quadruped Robot |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 523-532 |
| Number of pages | 10 |
| Journal | Zhongguo Jixie Gongcheng/China Mechanical Engineering |
| Volume | 32 |
| Issue number | 5 |
| DOIs | |
| State | Published - 10 Mar 2021 |
| Externally published | Yes |
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