中文版 | English
Title

Improved Task Space Locomotion Controller for a Quadruped Robot with Parallel Mechanisms

Author
Corresponding AuthorChen, Hua
DOI
Publication Years
2022
Conference Name
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISSN
2153-0858
ISBN
978-1-6654-7928-8
Source Title
Pages
13578-13585
Conference Date
OCT 23-27, 2022
Conference Place
null,Kyoto,JAPAN
Publication Place
345 E 47TH ST, NEW YORK, NY 10017 USA
Publisher
Abstract
In this work, an advanced quadruped robot with abundant kinematic loops and passive joints is introduced. Due to the existence of many closed chains, the robot dynamic model is quite complex, and is derived using the Gauss's principle of least constraint. To explicitly consider the loop-closure constraints, we propose a task-space inverse dynamics based approach to obtain the robot locomotion controller. Besides, to meet the demand of high frequency (>= 500Hz) in controller, an alternative method is provided. It uses the projected dynamics to find an analytical mapping from the desired contact force to the desired torque of actuators under full consideration of passive joints and loop-closure constraints. The effectiveness and efficiency of the proposed algorithms in this paper have been validated by simulation with a reliable physical engine MuJoCo.
Keywords
SUSTech Authorship
First ; Corresponding
Language
English
URL[Source Record]
Indexed By
WOS Research Area
Automation & Control Systems ; Computer Science ; Engineering ; Robotics
WOS Subject
Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics
WOS Accession No
WOS:000909405304085
Data Source
Web of Science
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9981385
Citation statistics
Cited Times [WOS]:0
Document TypeConference paper
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/416074
DepartmentDepartment of Mechanical and Energy Engineering
Affiliation
1.Southern Univ Sci & Technol, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Peoples R China
2.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China
First Author AffilicationSouthern University of Science and Technology
Corresponding Author AffilicationSouthern University of Science and Technology
First Author's First AffilicationSouthern University of Science and Technology
Recommended Citation
GB/T 7714
Yang, Shunpeng,Lin, Wenchun,Noh, Jaeho,et al. Improved Task Space Locomotion Controller for a Quadruped Robot with Parallel Mechanisms[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:13578-13585.
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