An efficient autonomous traction control method for quadruped robot

摘要

In order to improve the work efficiency of the quadruped robot autonomous operation, this paper uses the improved potential field theory to overcome the shortage of the tradition theory based on the traditional artificial potential field. The system identifies and extracts features of targets and obstacles by perception sensors mounted on the robot, and potential fields of targets and obstacles are established. The virtual traction force is captured from targets and obstacles using the gradient of potential fields. Therefore, the force could be transformed into the robot control signals and transferred into the spring-damp virtual controller for the robot body to achieve the autonomous efficient traction control of the robot. The results of the simulation experiment validate the feasibility of this control strategy.