@inproceedings{e098589d35b14005a5d692d17c717a72,
title = "Body posture control of wheeled foot quadruped robot based on virtual suspension model",
abstract = "How to improve the adaptability in complex environment has always been a difficult problem in the control of legged robot. The conventional method based on dynamic model can not achieve the real-time control of the myriapod robot. Using for reference of bionic foot reflection mechanism, we bring forward a new arithmetic to control the body posture of the legged robot based on foot supporting force control. The basic theory is to set up virtual suspension model and realize the balance control of the body posture by controlling the forces on the feet instead of the moments of the joints. At the same time, we adopted an improved position-based impedance control strategy in this paper and realized the tracking of the scheduled feet force as well as the smooth transition of the swing leg from swinging phase to supporting phase.",
keywords = "Body posture control, Impedance control, Quadruped robot, Virtual suspension model",
author = "Wang, \{Peng Fei\} and Li, \{Man Tian\} and Sun, \{Li Ning\}",
year = "2008",
doi = "10.1007/978-3-540-88513-9\_90",
language = "英语",
isbn = "3540885129",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
number = "PART 1",
pages = "834--843",
booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",
address = "德国",
edition = "PART 1",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}