Posture control strategy based on force distribution for bionic six-legged robot

摘要

This paper proposed a posture control strategy based on force distribution for the purpose of keeping the posture stability of six-legged robot when the robot was walking on irregular terrain.This strategy considered of establishing the force distribution model on any gait patterns to obtain the balance relationship of plantar forces,and adjusted COG(center of gravity) to achieve optimal posture control.Applied force compensation on the basis of a virtual suspension model to achieve disturbance rejection.This strategy could effectively improve the walking stability of robot on irregular terrain.Adams simulations verified the effectiveness of the control strategy to improve the robot walking stability margin.