Predictive control of stable standing of three-legged robot

摘要

The stability margin of multi-legged robots will be significantly reduced on changing ground, such as the ground of an earthquake or the deck of a surface ship. In this paper, a new type of three-legged robot prototype is taken as the research object. Aiming at the stable standing of the three-legged robot under different terrains, this paper proposes a predictive control method for online planning reference trajectories. Through the angle data obtained by the gyroscope, the ground condition of the robot is evaluated online, and the reference trajectory is generated in real time. In this paper, the predictive control method is used to control the virtual leg elongation length to track the reference trajectory so that the robot body is parallel to the horizontal plane. The simulation and prototype experiments prove that the three-legged robot can obtain high stability on the changing ground by this algorithm.