Research on High-Speed Gait Planning and Control of Quadruped Robot

Yufeng Li; Lei Jiang; Peng Xu; Wei Xu; Yufei Liu; Boyang Xing; Tong Yan

doi:10.1109/ICIPCA59209.2023.10257975

Research on High-Speed Gait Planning and Control of Quadruped Robot

Yufeng Li
, Lei Jiang^*
, Peng Xu
, Wei Xu
, Yufei Liu
, Boyang Xing
, Tong Yan

^*Corresponding author for this work

China North Vehicle Research Institute
Collective Intelligence & Collaboration Laboratory

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In order to improve the high-speed adaptive performance of quadruped robot in complex terrain, a high-speed motion planning and control method for quadruped robot is studied. The model predictive control method is adopted and the whole-body dynamics control strategy is integrated, two kinds of swing trajectories are planned and designed, and high-speed stable control of the robot under two kinds of gaits are achieved. Finally, the feasibility of the method is verified by experiments and the power consumption is compared for different high-speed gaits.

Original language	English
Title of host publication	2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	923-932
Number of pages	10
ISBN (Electronic)	9798350314670
DOIs	https://doi.org/10.1109/ICIPCA59209.2023.10257975
State	Published - 2023
Externally published	Yes
Event	2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023 - Changchun, China Duration: 11 Aug 2023 → 13 Aug 2023

Publication series

Name	2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023

Conference

Conference	2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023
Country/Territory	China
City	Changchun
Period	11/08/23 → 13/08/23

Keywords

high-speed motion planning
model predictive control
quadruped robot
whole-body dynamics

Access to Document

10.1109/ICIPCA59209.2023.10257975

Cite this

Li, Y., Jiang, L., Xu, P., Xu, W., Liu, Y., Xing, B., & Yan, T. (2023). Research on High-Speed Gait Planning and Control of Quadruped Robot. In 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023 (pp. 923-932). (2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIPCA59209.2023.10257975

Li, Yufeng ; Jiang, Lei ; Xu, Peng et al. / Research on High-Speed Gait Planning and Control of Quadruped Robot. 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 923-932 (2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023).

@inproceedings{92f64f63452f4f3e863445fafccaa3a5,

title = "Research on High-Speed Gait Planning and Control of Quadruped Robot",

abstract = "In order to improve the high-speed adaptive performance of quadruped robot in complex terrain, a high-speed motion planning and control method for quadruped robot is studied. The model predictive control method is adopted and the whole-body dynamics control strategy is integrated, two kinds of swing trajectories are planned and designed, and high-speed stable control of the robot under two kinds of gaits are achieved. Finally, the feasibility of the method is verified by experiments and the power consumption is compared for different high-speed gaits.",

keywords = "high-speed motion planning, model predictive control, quadruped robot, whole-body dynamics",

author = "Yufeng Li and Lei Jiang and Peng Xu and Wei Xu and Yufei Liu and Boyang Xing and Tong Yan",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023 ; Conference date: 11-08-2023 Through 13-08-2023",

year = "2023",

doi = "10.1109/ICIPCA59209.2023.10257975",

language = "英语",

series = "2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "923--932",

booktitle = "2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023",

address = "美国",

}

Li, Y, Jiang, L, Xu, P, Xu, W, Liu, Y, Xing, B & Yan, T 2023, Research on High-Speed Gait Planning and Control of Quadruped Robot. in 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023. 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023, Institute of Electrical and Electronics Engineers Inc., pp. 923-932, 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023, Changchun, China, 11/08/23. https://doi.org/10.1109/ICIPCA59209.2023.10257975

Research on High-Speed Gait Planning and Control of Quadruped Robot. / Li, Yufeng; Jiang, Lei; Xu, Peng et al.
2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 923-932 (2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on High-Speed Gait Planning and Control of Quadruped Robot

AU - Li, Yufeng

AU - Jiang, Lei

AU - Xu, Peng

AU - Xu, Wei

AU - Liu, Yufei

AU - Xing, Boyang

AU - Yan, Tong

PY - 2023

Y1 - 2023

N2 - In order to improve the high-speed adaptive performance of quadruped robot in complex terrain, a high-speed motion planning and control method for quadruped robot is studied. The model predictive control method is adopted and the whole-body dynamics control strategy is integrated, two kinds of swing trajectories are planned and designed, and high-speed stable control of the robot under two kinds of gaits are achieved. Finally, the feasibility of the method is verified by experiments and the power consumption is compared for different high-speed gaits.

AB - In order to improve the high-speed adaptive performance of quadruped robot in complex terrain, a high-speed motion planning and control method for quadruped robot is studied. The model predictive control method is adopted and the whole-body dynamics control strategy is integrated, two kinds of swing trajectories are planned and designed, and high-speed stable control of the robot under two kinds of gaits are achieved. Finally, the feasibility of the method is verified by experiments and the power consumption is compared for different high-speed gaits.

KW - high-speed motion planning

KW - model predictive control

KW - quadruped robot

KW - whole-body dynamics

UR - https://www.scopus.com/pages/publications/85174423890

U2 - 10.1109/ICIPCA59209.2023.10257975

DO - 10.1109/ICIPCA59209.2023.10257975

M3 - 会议稿件

AN - SCOPUS:85174423890

T3 - 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023

SP - 923

EP - 932

BT - 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023

Y2 - 11 August 2023 through 13 August 2023

ER -

Li Y, Jiang L, Xu P, Xu W, Liu Y, Xing B et al. Research on High-Speed Gait Planning and Control of Quadruped Robot. In 2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 923-932. (2023 IEEE International Conference on Image Processing and Computer Applications, ICIPCA 2023). doi: 10.1109/ICIPCA59209.2023.10257975

Research on High-Speed Gait Planning and Control of Quadruped Robot

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this