JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2016, Vol. 46 ›› Issue (6): 69-75.doi: 10.6040/j.issn.1672-3961.0.2016.369

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Buffering strategy for articulated legged robot based on virtual model control and acceleration planning

LIU Bin, SONG Rui*, CHAI Hui   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2016-09-26 Online:2016-12-20 Published:2016-09-26

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Abstract: Based on virtual model control and acceleration planning, a buffering strategy was proposed to protect the articulated legged robot for landing. Through virtually modeling the robotic leg, the torso acceleration during landing was specified so as to reduce the impact force acting on the torso. According to this buffering strategy, the whole landing process could be divided into three phases, the falling, buffering and recovering phases. In the falling phase, the robotic foot was correctly positioned by a virtual “spring-damping” system to achieve the appropriate position according to the actual position. In the buffering and recovering phases, the acceleration of center of mass of the robotic torso was planned so that the impact acting on the torso was reduced. Adjusting stiffness and damping parameters were avoided at the moment of foot-to-ground contact in this buffering strategy, rending a simple but accurate landing control. The simulation based on Webots protocol revealed that this buffering strategy was effective in protecting the robot against damage during landing.

Key words: legged robots, acceleration planning, buffering strategy, virtual model control, force control

CLC Number: 

  • TP242.6
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