Research On Hopping Control Of A Quadruped Robot Based On Contact Force

In the research of quadruped robot motion control,maximum speed is one of the core indicators of robot control performance.It has significance that improving maximum speed on the premise that actuators have limited characteristics.Researches on quadruped robot hopping is conducted,based on the purpose that hopping is inserted in trot gait to improve the running speed.Firstly,based on the contact force distribution-control frame,the quadruped robot is decoupled into independent posture models.In further,the quadruped robot is simplified into double-mass model on vertical direction for its characteristics in hopping.And then the calculation method for the simplified double-mass is given.Secondly,a hopping controller of low amplitude PD controller paralleled force planning for double-mass model is designed.A stable hopping control is realized by the hopping controller in coordination with high-performanced contact force controller.At last,a four-leg hopping is realized by using the double-mass model hopping controller,combined with contact force distribution and switching PD controller of attitude,forward and lateral position.And then trot hopping are realized with lateral control realized by standing point choosing indirectly in.