Research on the control method for high speed locomotion legged robot

Abstract

In the field of legged robot, the researchers are no longer satisfied with the robot walking at low speed, and pursue more dynamic high speed locomotion. Based on the SLIP model, the paper analyzed the relationship between the leg impedance and the velocity of the robot, and obtained the rule between the impedance parameters and the velocity, the high-speed locomotion of the robot was realized by the impedance control based on force. The correctness of control algorithm is proved through the results of simulation experiments. Finally, the experiment platform of high speed locomotion was built, and the correctness and effectiveness of the active compliance control algorithm based on impedance control was further verified by the high speed impedance running experiment.