Energy Dissipation Rate Control for planar quadruped bouncing robot based on the property of passive dynamic walking

摘要

In this paper we will introduce Energy Dissipation Rate Control (EDRC) method, which could provide stable walking for legged robots, by controlling the swing foot velocity just before each Impact Phase (IP). This method will be applied to a Three Link Two Point Foot (3L2PF) quadruped robot model, to realize an active dynamic bouncing gait on level ground. As the point-foot contact assumption for 3L2PF imposes one degree of under actuation in the ankle joint, we introduce a new strategy for solving the dynamic and kinematic equations of the robot in parallel for deriving suitable joint trajectories during each Single Support Phase (SSP). Simulation results show that the proposed methods in this paper are effective.