Research on the control method for high speed locomotion legged robot

Fusheng Zha; Kenan Wang; Wei Guo; Zhenshan Bing; Changrong Cai; Baoxiang Wang; Zhenyu Jiang

doi:10.1109/ICARM.2017.8273130

Research on the control method for high speed locomotion legged robot

Fusheng Zha
, Kenan Wang
, Wei Guo^*
, Zhenshan Bing
, Changrong Cai
, Baoxiang Wang
, Zhenyu Jiang

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
Double Coin Group (Jiangsu) Tyre Co.,Ltd
Shenzhen Academy of Aerospace Technology

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

2 Scopus citations

Abstract

In the field of legged robot, the researchers are no longer satisfied with the robot walking at low speed, and pursue more dynamic high speed locomotion. Based on the SLIP model, the paper analyzed the relationship between the leg impedance and the velocity of the robot, and obtained the rule between the impedance parameters and the velocity, the high-speed locomotion of the robot was realized by the impedance control based on force. The correctness of control algorithm is proved through the results of simulation experiments. Finally, the experiment platform of high speed locomotion was built, and the correctness and effectiveness of the active compliance control algorithm based on impedance control was further verified by the high speed impedance running experiment.

Original language	English
Title of host publication	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	31-36
Number of pages	6
ISBN (Electronic)	9781538632604
DOIs	https://doi.org/10.1109/ICARM.2017.8273130
State	Published - 2 Jul 2017
Event	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 - Hefei and Tai'an, China Duration: 27 Aug 2017 → 31 Aug 2017

Publication series

Name	2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Volume	2018-January

Conference

Conference	2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Country/Territory	China
City	Hefei and Tai'an
Period	27/08/17 → 31/08/17

Keywords

Legged robot
SLIP
high speed locomotion
impedance control

Access to Document

10.1109/ICARM.2017.8273130

Cite this

Zha, F., Wang, K., Guo, W., Bing, Z., Cai, C., Wang, B., & Jiang, Z. (2017). Research on the control method for high speed locomotion legged robot. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 (pp. 31-36). (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2017.8273130

@inproceedings{29810060ab0746a6b23cf27946d5f953,

title = "Research on the control method for high speed locomotion legged robot",

abstract = "In the field of legged robot, the researchers are no longer satisfied with the robot walking at low speed, and pursue more dynamic high speed locomotion. Based on the SLIP model, the paper analyzed the relationship between the leg impedance and the velocity of the robot, and obtained the rule between the impedance parameters and the velocity, the high-speed locomotion of the robot was realized by the impedance control based on force. The correctness of control algorithm is proved through the results of simulation experiments. Finally, the experiment platform of high speed locomotion was built, and the correctness and effectiveness of the active compliance control algorithm based on impedance control was further verified by the high speed impedance running experiment.",

keywords = "Legged robot, SLIP, high speed locomotion, impedance control",

author = "Fusheng Zha and Kenan Wang and Wei Guo and Zhenshan Bing and Changrong Cai and Baoxiang Wang and Zhenyu Jiang",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017 ; Conference date: 27-08-2017 Through 31-08-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ICARM.2017.8273130",

language = "英语",

series = "2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017",

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

pages = "31--36",

booktitle = "2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017",

address = "美国",

}

Zha, F, Wang, K, Guo, W, Bing, Z, Cai, C, Wang, B & Jiang, Z 2017, Research on the control method for high speed locomotion legged robot. in 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 31-36, 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, Hefei and Tai'an, China, 27/08/17. https://doi.org/10.1109/ICARM.2017.8273130

Research on the control method for high speed locomotion legged robot. / Zha, Fusheng; Wang, Kenan; Guo, Wei et al.
2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 31-36 (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017; Vol. 2018-January).

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

TY - GEN

T1 - Research on the control method for high speed locomotion legged robot

AU - Zha, Fusheng

AU - Wang, Kenan

AU - Guo, Wei

AU - Bing, Zhenshan

AU - Cai, Changrong

AU - Wang, Baoxiang

AU - Jiang, Zhenyu

PY - 2017/7/2

Y1 - 2017/7/2

N2 - In the field of legged robot, the researchers are no longer satisfied with the robot walking at low speed, and pursue more dynamic high speed locomotion. Based on the SLIP model, the paper analyzed the relationship between the leg impedance and the velocity of the robot, and obtained the rule between the impedance parameters and the velocity, the high-speed locomotion of the robot was realized by the impedance control based on force. The correctness of control algorithm is proved through the results of simulation experiments. Finally, the experiment platform of high speed locomotion was built, and the correctness and effectiveness of the active compliance control algorithm based on impedance control was further verified by the high speed impedance running experiment.

AB - In the field of legged robot, the researchers are no longer satisfied with the robot walking at low speed, and pursue more dynamic high speed locomotion. Based on the SLIP model, the paper analyzed the relationship between the leg impedance and the velocity of the robot, and obtained the rule between the impedance parameters and the velocity, the high-speed locomotion of the robot was realized by the impedance control based on force. The correctness of control algorithm is proved through the results of simulation experiments. Finally, the experiment platform of high speed locomotion was built, and the correctness and effectiveness of the active compliance control algorithm based on impedance control was further verified by the high speed impedance running experiment.

KW - Legged robot

KW - SLIP

KW - high speed locomotion

KW - impedance control

UR - https://www.scopus.com/pages/publications/85050738212

U2 - 10.1109/ICARM.2017.8273130

DO - 10.1109/ICARM.2017.8273130

M3 - 会议稿件

AN - SCOPUS:85050738212

T3 - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017

SP - 31

EP - 36

BT - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017

Y2 - 27 August 2017 through 31 August 2017

ER -

Zha F, Wang K, Guo W, Bing Z, Cai C, Wang B et al. Research on the control method for high speed locomotion legged robot. In 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 31-36. (2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017). doi: 10.1109/ICARM.2017.8273130

Research on the control method for high speed locomotion legged robot

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