A new control method of quadruped robot walking on rough terrain based on linear inverted pendulum method

摘要

This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights relative to the level ground. In order to ensure the same leg length, there will be energy dissipation caused by the raise of the center of mass. Therefore this paper proposes a dual length linear inverted pendulum method (DLLIPM), which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. In addition, Newton-Raphson algorithm is used to optimize the linear inverted pendulum movement, which makes the movement symmetrical and smooth. Finally this paper presents simulation results with DLLIPM on a quadruped robot with 16 degrees of freedom.