Journal of Shandong University(Engineering Science) ›› 2021, Vol. 51 ›› Issue (3): 37-44.doi: 10.6040/j.issn.1672-3961.0.2020.320

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Algorithm of adaptive slope adjustment of quadruped robot based on model predictive control and its application

LIANG Qixing1, LI Bin1*, LI Zhi2, ZHANG Hui2, RONG Xuewen3, FAN Yong4   

  1. 1. School of Mathematics and Statistics, Qilu University of Technology(Shandong Academy of Sciences), Jinan 250353, Shandong, China;
    2. School of Electrical Engineering and Automation, Qilu University of Technology(Shandong Academy of Sciences), Jinan 250353, Shandong, China;
    3. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China;
    4. School of Rail Transportation, Shandong Jiaotong University, Jinan 250357, Shandong, China
  • Online:2021-06-20 Published:2021-06-24

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Abstract: In order to realize the adaptive and stable walking of the quadruped robot on slope terrain, the adaptive adjustment strategies of both feet position and trunk posture of quadruped robot on slope were proposed based on the model predictive control. The posture determination parameters of the robot in locomotion were measured by the inertial measurement unit(IMU). By means of the derived foot end trajectory algorithm, the coordinate mapping of its toe position was obtained in order to adjust the center of gravity of the robot on the slope. Then the adaptive adjustment of the trunk posture of the robot in the process of climbing could be achieved through the trunk posture adjustment algorithm by means of designed “virtual slope”. With the help of the physical platform of quadruped robot and the actual slope terrain environment built in the laboratory, the feasibility and validity of the proposed algorithm are verified. Experimental result showed that the proposed slope adaptive control method had improved the stability margin of the robot on the slope and optimized the foot end motion space, thus leading to the realization of adaptive adjustment in climbing slope for the quadruped robot.

Key words: quadruped robot, model predictive control, slope, body posture, adaptive adjustment

CLC Number: 

  • TP242
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