Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom

Dawei Gong; Peng Wang; Shuangyu Zhao; Li Du; Yu Duan

doi:10.1109/JAS.2017.7510790

Volume 5 Issue 1

Jan. 2018

IEEE/CAA Journal of Automatica Sinica

JCR Impact Factor: 15.3, Top 1 (SCI Q1)

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(1): 382-388

Dawei Gong, Peng Wang, Shuangyu Zhao, Li Du and Yu Duan, "Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 382-388, Jan. 2018. doi: 10.1109/JAS.2017.7510790

Citation:

Dawei Gong, Peng Wang, Shuangyu Zhao, Li Du and Yu Duan, "Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 382-388, Jan. 2018. doi: 10.1109/JAS.2017.7510790

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Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom

doi: 10.1109/JAS.2017.7510790

University of Electronic Science and Technology, Chengdu 611731, China

Funds:

This work was supported by the National Science Fund for Distinguished Young Scholars of China 51225503

the National Natural Science Foundation of China 61603076

the Fundamental Research Funds for the Central Universities ZYGX2016J116

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Author Bio:
Dawei Gong is currently a Lecturer with the University of Electronic Science and Technology of China, Chengdu, China. He received the Ph.D. degree in control theory and control engineering from Northeastern University, Shenyang, China, in 2012. His current research interests include neural networks, complex networks, fuzzy modelling and control, optimization in process industries, and intelligent optimization algorithms.(e-mail:pzhzhx@126.com)

Peng Wang is currently a graduate student and will receive the M.S. degree in mechanical engineering from the University of Electronic Science and Technology of China. He received the B.S. degree in mechanical engineering from Shandong University of Science and Technology, Qingdao, China, in 2014. His research interests include parallel robotics.(e-mail:peng_wang_uestc@outlook.com)

Shuangyu Zhao is currently an Engineer at Shenyang Aircraft Design and Research Institute. She received the M.S. degree in mechanical engineering from the University of Electronic Science and Technology of China in 2014. Her research interests include biomimetic robotics.(e-mail:muyuzhitong@163.com)

Li Du is currently a Lecturer with the University of Electronic Science and Technology of China, Chengdu, China. She received the Ph.D. degree in mechanical engineering from the University of Electronic Science and Technology of China, Chengdu, China, in 2010. Her current research interests include mechatronics and precision engineering.(e-mail:lidu@uestc.edu.cn)

Yu Duan is currently an Engineer. He received the M.S. degree in mechanical engineering from the University of Electronic Science and Technology of China, in 2017. His main research interest is electrical engineering.(e-mail:derekduan_jy@163.com)
Corresponding author: Dawei Gong, e-mail: pzhzhx@126.com
Received Date: 2016-05-27
Accepted Date: 2016-08-08

Abstract

Abstract

Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of freedom. As a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3D model for quadruped robot based on spring loaded inverted pendulum (SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.
- Degree of freedom,
- dynamic gait,
- foot trajectory,
- quadruped robot,
- spring loaded inverted pendulum (SLIP)

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Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom

doi: 10.1109/JAS.2017.7510790

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