Position/torque hybrid control of a rigid, high-gear ratio quadruped robot. (17th September 2018)

• Record Type: Journal Article
• Authors: Sim, Okkee; Jung, Taejin; Lee, Kang Kyu; Oh, Jaesung; Oh, Jun-Ho
• Is Part Of: Advanced robotics. Volume 32:Number 18(2018)
• Page Start: 969
• Page End: 983
• Publication Date: 2018-09-17
• Subjects: Inverse dynamics control -- quadruped walking -- high gear ratio -- hybrid control -- preview control; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2018.1516162
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: In this study, we introduce position/torque hybrid control for a newly designed rigid and high-gear ratio quadruped robot. The Experimental results indicated that the use of this control strategy allows the quadruped robot to maintain its stability while walking, and foot contact can be stabilized with only knee torque control and other joints are position controlled, without contact force feedback. Additionally, we suggested a smooth pattern connection method within or from preview control to the center of mass natural dynamics, and vice versa. We validated the proposed control strategies by conducting experiments. GRAPHICAL ABSTRACT: