Stable walking control of parallel wheel-foot robot based on ZMP theory

摘要

For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot, a new walking control method which can control body posture according to ZMP theory is put forward. The problem that robot can easily tip during trotting is solved by selecting landing points. Mechanical structure of the parallel quadruped wheel-foot robot is presented. Gait planning algorithm is shown in detail. Virtual prototyping based on Matlab and Adams integrated simulation platform is built. The simulation results show the effectiveness of the new control algorithm.