An intuitive approach for quadruped robot trotting based on virtual model control

This article presents an intuitive approach based on virtual model control for quadrupedal dynamic locomotion, aiming at simple and robust trotting control. The controller consists of two main modules: stance phase virtual model control for full control of the robot body and swing phase virtual mode...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2015-04, Vol.229 (4), p.342-355
Hauptverfasser:	Xie, Huixiang, Ahmadi, Mojtaba, Shang, Jianzhong, Luo, Zirong
Format:	Artikel
Sprache:	eng
Schlagworte:	Control systems Controllers Dynamical systems Dynamics Legs Mechanical engineering Mechanical engineers Robot control Robots Robustness Simulation Swing
Online-Zugang:	Volltext
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