Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot

摘要

In this paper, we proposed a robust control method based on the virtual suspension model for keeping the posture stability and decreasing the tiny vibration of the robot body when it is walking on irregular terrain. Firstly, we developed a six-legged walking robot for this study based on stable theory of wave gaits and CAD dynamic model. Secondly, in order to keep the posture stability of body when robot walks, we designed a virtual suspension model with one degree of freedom, which has virtual spring and damper, for the direction of the center of gravity, the pitch angle, and the roll angle of body respectively. And then, in order to decrease the tiny vibration of body when robot walks, we proposed an active suspension control by using sliding mode control based on a virtual suspension model. These proposed methods are discussed using the walking experimental results of the developed six-legged walking robot.