Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot. (22nd May 2020)

• Record Type: Journal Article
• Authors: Chen, Mingfang; Chen, Hao; Wang, Xuejun; Yu, JiangXuan; Zhang, YongXia
• Other Names: Zhang Weicun Guest Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2020(2020)
• Publication Date: 2020-05-22
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2020/3943867
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : In order to solve the defects of the large inertia and control difficulty of the electrically driven quadruped legs of robots, a novel leg structure and a control method are proposed in this paper. In terms of structure, the motor of the knee is arranged in the body of the robot to reduce the weight of the legs. In addition, this paper improves the PVT difference control algorithm embedded in the PMAC controller. Using the nonlinear control principle of the U-model, the optimized segmented Hermite difference method is used to implement the planning of the foot trajectory of the quadruped robot. Simulation and experiment show that the leg structure design is reasonable and the improved interpolation algorithm has good control effect.