TY - GEN
T1 - A novel control strategy for quadruped robot walking over irregular terrain
AU - Yin, Peng
AU - Wang, Pengfei
AU - Li, Mantian
AU - Sun, Lining
PY - 2011
Y1 - 2011
N2 - Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified.
AB - Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified.
UR - https://www.scopus.com/pages/publications/82955221780
U2 - 10.1109/RAMECH.2011.6070479
DO - 10.1109/RAMECH.2011.6070479
M3 - 会议稿件
AN - SCOPUS:82955221780
SN - 9781612842509
T3 - IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
SP - 184
EP - 189
BT - Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
T2 - 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
Y2 - 17 September 2011 through 19 September 2011
ER -