Realization of Complex Terrain and Disturbance Adaptation for Hydraulic Quadruped Robot under Flying trot Gait

摘要

To improve the dynamic motion capability of the bionic quadruped robot, a kind of flying trot gait control method is proposed. Planning the motion of the torso and mapping it to the foot, the robot can achieve a stable flying trot movement. The motion controller is designed based on the spring loaded inverted pendulum (SLIP) model to achieve self-recovery stability under the external force disturbance of the robot. The proposed method can achieve the transition between the trot and the flying trot gait, where the flying trot gait can improve the speed of the quadruped robot and trot gait motion has a better robust ability. The dynamic simulation results of Webots verify that the method can achieve three-dimensional stable and robust flying trot gait. The quadruped robot can effectively climb the slopes within 20 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">◦</sup> in flying trot gait and resist lateral impact forces. Experiments on the physical platform SCalf-III verify the effectiveness of the proposed method to achieve stable flying trot gait.