Body Posture Control of Wheeled Foot Quadruped Robot Based on Virtual Suspension Model

How to improve the adaptability in complex environment has always been a difficult problem in the control of legged robot. The conventional method based on dynamic model can not achieve the real-time control of the myriapod robot. Using for reference of bionic foot reflection mechanism, we bring forward a new arithmetic to control the body posture of the legged robot based on foot supporting force control. The basic theory is to set up virtual suspension model and realize the balance control of the body posture by controlling the forces on the feet instead of the moments of the joints. At the same time, we adopted an improved position-based impedance control strategy in this paper and realized the tracking of the scheduled feet force as well as the smooth transition of the swing leg from swinging phase to supporting phase.