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Volume 12
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Article

Balance Control of a Quadruped Robot Based on Foot Fall Adjustment

by
Wenkai Sun
,
Xiaojie Tian
,
Yong Song
*,
Bao Pang
,
Xianfeng Yuan
and
Qingyang Xu
School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2022, 12(5), 2521; https://doi.org/10.3390/app12052521
Submission received: 17 December 2021 / Revised: 19 January 2022 / Accepted: 21 February 2022 / Published: 28 February 2022
(This article belongs to the Topic Motion Planning and Control for Robotics)
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Abstract

To balance the diagonal gait of a quadruped robot, a dynamic balance control method is presented to improve the stability of the quadruped robot by adjusting its foot position. We set up a trunk-based coordinate system and a hip-based local coordinate system for the quadruped robot, established the kinematics equation of the robot, and designed a reasonable initial diagonal gait through the spring inverted pendulum model. The current trunk posture of the quadruped robot is obtained by collecting the data of its pitch and roll angle, and the foot position is predicted according to the current posture and initial gait of the quadruped robot. To reduce the impact of one leg landing on the ground and increase the stability of the quadruped robot, we adjust the landing point of the robot according to the landing time difference between the diagonal legs. The proposed method can adjust the body in such scenarios as planar walking and lateral impact resistance. It can reduce the disturbance during the robot motion and make the robot move smoothly. The validity of this method is verified by simulation experiments.
Keywords: diagonal gait; quadruped robot; dynamic balance control; attitude feedback; landing time difference diagonal gait; quadruped robot; dynamic balance control; attitude feedback; landing time difference

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MDPI and ACS Style

Sun, W.; Tian, X.; Song, Y.; Pang, B.; Yuan, X.; Xu, Q. Balance Control of a Quadruped Robot Based on Foot Fall Adjustment. Appl. Sci. 2022, 12, 2521. https://doi.org/10.3390/app12052521

AMA Style

Sun W, Tian X, Song Y, Pang B, Yuan X, Xu Q. Balance Control of a Quadruped Robot Based on Foot Fall Adjustment. Applied Sciences. 2022; 12(5):2521. https://doi.org/10.3390/app12052521

Chicago/Turabian Style

Sun, Wenkai, Xiaojie Tian, Yong Song, Bao Pang, Xianfeng Yuan, and Qingyang Xu. 2022. "Balance Control of a Quadruped Robot Based on Foot Fall Adjustment" Applied Sciences 12, no. 5: 2521. https://doi.org/10.3390/app12052521

APA Style

Sun, W., Tian, X., Song, Y., Pang, B., Yuan, X., & Xu, Q. (2022). Balance Control of a Quadruped Robot Based on Foot Fall Adjustment. Applied Sciences, 12(5), 2521. https://doi.org/10.3390/app12052521

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