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

Previous Articles     Next Articles

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

PDF (PC)

695

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
[1] HE Jingye, SHAO Junpeng, SUN Guitao, et al. Survey of quadruped robots coping strategies in complex situations[J]. Electronics, 2019, 8(12): 1-16.
[2] WANG A S, CHEN W W, LIN P. Control of a 2-D bounding passive quadruped model with poincar? map approximation and model predictive control[C] //International Conference on Advanced Robotics & Intelligent Systems. Taipei, China: IEEE, 2017: 1-6.
[3] HORVAT T, MELO K, IJSPEERT A J. Model predictive control based framework for CoM control of a quadruped robot[C] //2017 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vancouver, Canada: IEEE, 2017: 3372-3378.
[4] FARSHIDIAN F, JELAVI E, SATAPATHY A, et al. Real-time motion planning of legged robots: a model predictive control approach[C] //International Conference on Humanoid Robotics. Birmingham, England: IEEE, 2017: 577-584.
[5] CARLO J D, WENSING P M, KATZ B, et al. Dynamic locomotion in the MIT Cheetah 3 through convex model predictive control[C] //International Conference on Intelligent Robots and Systems(IROS). Madrid, Spain: IEEE, 2018: 1-9.
[6] NEUNERT M, STAUBLE M, GIFTTHALER M, et al. Whole-body nonlinear model predictive control through contacts for quadrupeds[J]. IEEE Robotics & Automation Letters, 2018, 3(3): 1458-1465.
[7] GUO Jiaxin, ZHENG Yukun, QU Daoxiao, et al. An algorithm of foot end trajectory tracking control for quadruped robot based on model predictive control[C] //International Conference on Robotics and Biomimetics(ROBIO). Dali, China: IEEE, 2019: 828-833.
[8] SHI Yapeng, WANG Pengfei, Li Mantian, et al. Model predictive control for motion planning of quadrupedal locomotion[C] //2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics. Toyonaka, Japan: IEEE, 2019: 87-92.
[9] MA S, TOMIYAMA T, WADA H. Omni-directional walking of a quadruped robot[C] //International Conference on Intelligent Robots & Systems. Lausanne, Switzerland: IEEE, 2004: 2605-2612.
[10] YIN Peng, WANG Pengfei, LI Mantian, et al. A novel control strategy for quadruped robot walking over irregular terrain[C] //Robotics, Automation & Mechatronics. Qingdao, China: IEEE, 2011: 184-189.
[11] 孟健,李贻斌,李彬. 四足机器人对角小跑步态全方位移动控制方法及其实现[J].机器人, 2015, 37(1): 74-84. MENG Jian, LI Yibin, LI Bin. Omnidirectional movement control method and realization of quadruped robot in diagonal trot gait[J]. Robot, 2015, 37(1): 74-84.
[12] MENG Xiangrui, ZHOU Chao, CAO Zhiqiang, et al. A slope location and orientation estimation method based on 3D LiDAR suitable for quadruped robots[C] //IEEE International Conference on Robotics & Biomimetics. Qingdao, China: IEEE, 2016: 197-201.
[13] 韩宝玲,贾燕,李华师,等.四足机器人坡面运动时的姿态调整技术[J].北京理工大学学报,2016, 36(3): 242-246. HAN Baoling, JIA Yan, LI Huashi, et al. Posture adjustment technology of quadruped robot in slope movement[J]. Journal of Beijing University of Technology, 2016, 36(3): 242-246.
[14] AGRAWAL A, JADHAV A, PAREEKUTTY N, et al. Terrain adaptive posture correction in quadruped for locomotion on unstructured terrain[J]. Proceedings of the Advances in Robotics, 2017:1-6.
[15] LEE J H, PARK J H. Optimization of postural transition scheme for quadruped robots trotting on various surfaces[J]. IEEE Access, 2019: 168126-168140.
[16] JONES W, BLUM T, YOSHIDA K. Adaptive slope locomotion with deep reinforcement learning[C] //International Symposium on System Integration. Honolulu, USA: IEEE, 2020:546-550.
[17] BLEDT G, POWELL M J, KATZ B, et al. MIT Cheetah 3: design and control of a robust, dynamic quadruped robot[C] //IEEE/RSJ International Con-ference on Intelligent Robots and Systems(IROS). Madrid, Spain: IEEE, 2019:2245-2252.
[18] ZHANG Si, GAO Junyao, DUAN Xingguang, et al. Trot pattern generation for quadruped robot based on the ZMP stability margin[C] //International Conference on Complex Medical Engineering. Beijing, China: IEEE, 2013:608-613.
[19] 马宗利, 张培强, 吕荣基,等. 四足机器人坡面行走稳定性分析[J]. 东北大学学报(自然科学版), 2018, 39(5):673-678. MA Zongli, ZHANG Peiqiang, L(¨overU)Rongji, et al. Stability analysis of quadruped robot walking on slope[J]. Journal of Northeast University(Natural Science Edition), 2018, 39(5):673-678.
[20] KO C C, CHEN S C, LI C H, et al. Trajectory planning and four-leg coordination for stair climbing in a quadruped robot[C] //IEEE/RSJ International Con-ference on Intelligent Robots & Systems. Taipei, China: IEEE, 2010:5335-5340.
[1] Jianhong JIANG,Zhenyu YANG,Qi CHEN,Qingyu MENG,Hongbo ZHANG. Experimental research on mechanical features model of prestressed mutual-anchored retaining wall [J]. Journal of Shandong University(Engineering Science), 2019, 49(4): 61-69.
[2] XIN Yaxian, LI Yibin, LI Bin, RONG Xuewen. Smooth walk-to-trot gait transition algorithm for quadruped robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 42-49.
[3] LIU Zhe, SONG Rui, ZOU Tao. End force tracking control algorithm of grinding robot based on model predictive control [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 42-49.
[4] LU Yuefeng, ZHANG Kui, LIU Shuo, WU Yue, ZHAO Shuo, LI Qiang, FENG Chen. A vector data matching algorithm based on slope difference and azimuth [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(6): 31-39.
[5] LIU Jin, LI Qinchang, MA Xiuyuan. Application of strength reduction FEM method in slope stability analysis [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(4): 83-88.
[6] GUO Yongjian, CAO Zhouyang, SHENG Lijuan. The centrifugal model test of cable stress monitoring for rock slope [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(2): 101-107.
[7] MENG Jian, LI Yibin, LI Bin. Bound gait controlling method of quadruped robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2015, 45(3): 28-34.
[8] ZHAO Ji-kun1,2, CHEN Jia-hong1. Soil slope and water content on soil slope stability influence experimental study under rainfall [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2013, 43(2): 76-83.
[9] YANG Wen-dong1, ZHANG Qiang-yong1*, SONG Meng-bo2, YANG Jia1. Stability assessment of a high slope based on the failure approach index and strength reduction method [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(6): 82-87.
[10] LI Bin, LI Yi-Bin, RUAN Jiu-Hong, SONG Hong-Jun. Study of quadruped robot gait planning based on  Wilson-Cowan neural oscillators [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(1): 6-9.
[11] HAN Xue. Example analysis for landslide hazard remote monitoring at  the Pingzhuang west open-pit mine [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(4): 116-120.
[12] CUI Xinzhuang,WANG Aiyinsupg,LIU Yanbing,FENG Hongbo, . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(5): 73-76 .
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] ZHANG Yong-hua,WANG An-ling,LIU Fu-ping . The reflected phase angle of low frequent inhomogeneous[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 22 -25 .
[2] SHI Lai-shun,WAN Zhong-yi . Synthesis and performance evaluation of a novel betaine-type asphalt emulsifier[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 112 -115 .
[3] KONG Xiang-zhen,LIU Yan-jun,WANG Yong,ZHAO Xiu-hua . Compensation and simulation for the deadband of the pneumatic proportional valve[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 99 -102 .
[4] YU Jia yuan1, TIAN Jin ting1, ZHU Qiang zhong2. Computational intelligence and its application in psychology[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 1 -5 .
[5] LI Liang, LUO Qiming, CHEN Enhong. Graph-based ranking model for object-level search
[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 15 -21 .
[6] CHEN Rui, LI Hongwei, TIAN Jing. The relationship between the number of magnetic poles and the bearing capacity of radial magnetic bearing[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 81 -85 .
[7] LI Ke,LIU Chang-chun,LI Tong-lei . Medical registration approach using improved maximization of mutual information[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 107 -110 .
[8] QIN Tong, SUN Fengrong*, WANG Limei, WANG Qinghao, LI Xincai. 3D surface reconstruction using the shape based interpolation guided by maximal discs[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(3): 1 -5 .
[9] LIU Wen-liang, ZHU Wei-hong, CHEN Di, ZHANG Hong-quan. Detection and tracking of moving targets using the morphology match in radar images[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(3): 31 -36 .
[10] ZHANG Ying,LANG Yongmei,ZHAO Yuxiao,ZHANG Jianda,QIAO Peng,LI Shanping . Research on technique of aerobic granular sludge cultivationby seeding EGSB anaerobic granular sludge[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(4): 56 -59 .
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd