A Control Scheme for Single Legged Hopping Robot Based on Fuzzy PD Algorithm

摘要

In this paper, a stable jumping control scheme of a single leg is presented, which uses fuzzy PD control to realize self-tuning parameters and is based on the spring loaded inverted pendulum (SLIP) model. For different constraints, this paper constructs the dynamic models of the flight and stance phase respectively through Lagrangian algorithm. The constraint relationship between the leg and the ground contact force is analyzed, and the comprehensive parameter analysis is carried out. According to the different dynamic model, the corresponding controller is built for servo control, and the fuzzy PD control is added to realize the self-tuning of controller parameters. The simulation results show that the control algorithm proposed in this paper can effectively realize the stable jumping of the single legged robot, and can optimize the parameters.