Bionic Locomotion Control on Three-Section Leg of Quadruped Robot

Abstract:

In quadruped robot, there is the strong correlation of kinematic parameters for the joints of two-section leg, and it is difficult to realize the decoupling of rhythm and pattern over rough terrains. In this paper, we investigated the physiological feature, locomotion characteristics and main function of shoulder blade of quadrupeds, and based on the results, we proposed a stratified control system on the three-section leg to realize better adaptation of a robot to terrains. Through the active control of shoulder blade (frequency and amplitude) and the coupled passive control of upper arm and forearm, a leg may adjust to the terrains of different elevations without changing the movement state of shoulder blade and body speed. In addition, the foot trajectory was planned and a rough terrain was created for testing the athletic ability of a three-section leg, and the validity of the proposed control system is confirmed through simulation.

• Periodical: Applied Mechanics and Materials (Volumes 416-417)
• Pages: 762-767
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.416-417.762
• Online since: September 2013
• Authors: Jun Li, Xiao Yu Zhang, An Liu, Xue Feng Zhang
• Keywords: Bionic, Locomotion Control, Quadruped Robot, Three-Section Leg

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