Motion control of upward jumping step for SLIP model of legged robot

被引：0
作者：
Xiao L. [1 ]
San H.-J. [1 ]
Sun H.-J. [1 ]
Chen J.-P. [1 ]
机构：
[1] (Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology
[2] Key Laboratory of Advanced Equipment Intelligent Manufacturing Technology of Yunnan Province
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2024年 / 41卷 / 04期
关键词：
energy supplement; legged robot; motion control; SLIP model; step topography;
D O I：
10.7641/CTA.2023.20591
中图分类号：
学科分类号：
摘要：
The existence of steps presents significant hurdles to the motion stability of the legged robot because of uneven ground. The spring-loaded inverted pendulum (SLIP) model is an excellent template for studying the legged robot. Whether it can complete the action of jumping up the step is closely related to its leg swing angle, jump position and jump height. Because it is easy to cause motion failure by adjusting the swing angle law of the leg of the model, this paper introduces a virtual spring leg into the algorithm, determines a reasonable jump position according to the operation law of the virtual spring leg, and controls the jump height according to the jump position to complete the action of the jump step. Finally, multiple sets of simulations have been carried out by simulation software. The results show that the algorithm in this paper divides the jump interval reasonably, controls the jump height accurately, and can realize the stable movement of SLIP model before and after jumping steps. © 2024 South China University of Technology. All rights reserved.
引用
收藏
页码：631 / 637
页数：6
相关论文
共 21 条
  • [1] LI M, JIANG Z, WANG P, Et al., Control of a quadruped robot with bionic springy legs in trotting gait, Journal of Bionic Engineering, 11, 2, pp. 188-198, (2014)
  • [2] XU Z, GAO J, LIU C., Stability analysis of quadruped robot based on compliant control, IEEE International Conference on Robotics and Biometics (ROBIO), pp. 236-241, (2016)
  • [3] RAIBERT M H., Legged robot that balance, IEEE Expert, 1, 4, pp. 89-89, (1986)
  • [4] SHAN K, YU H, GAO H, Et al., Stance phase leg actuation control of the active SLIP running based on virtual constraint in sagittal plane, 2018 Annual American Control Conference (ACC), pp. 1969-1974, (2018)
  • [5] CHEN T, RONG X, LI Y, Et al., A compliant control method for robust trot motion of hydraulic actuated quadruped robot, International Journal of Advanced Robotic Systems, 15, 6, (2018)
  • [6] REZAZADEH S, HUBICKI C, JONES M, Et al., Spring-mass walking with ATRIAS in 3D: Robust gait control spanning zero to 4.3 KPH on a heavily underactuated bipedal robot, Dynamic Systems and Control Conference, (2015)
  • [7] XIONG X, AMES A D., Bipedal hopping: Reduced-order model embedding via optimization-based control, International Conference on Intelligent Robots and Systems (IROS), pp. 3821-3828, (2018)
  • [8] SINGH R, ROUT B K., Applying swing-leg retraction on an actuated spring loaded inverted pendulum model, The 2nd International Conference on Inventive Systems and Control (ICISC), pp. 1059-1062, (2018)
  • [9] COUNCIL G, YANG S, REVZEN S., Deadbeat control with (almost) no sensing in a hybrid model of legged locomotion, Proceedings of the 2014 International Conference on Advanced Mechatronic Systems, pp. 475-480, (2014)
  • [10] ZHANG C, ZOU W, MA L, Et al., Biologically inspired jumping robots: A comprehensive review, Robotics and Autonomous Systems, 124, (2020)
123