Force-based Active Compliance Control of Hydraulic Quadruped Robot

Authors

  • Zhu Rui School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China https://orcid.org/0000-0002-3300-1742
  • Yang Qingjun School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
  • Chen Chen Shenyang Aircraft Design&Research, Shenyang, China
  • Jiang Chunli School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
  • Li Congfei School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China
  • Wang Yuxuan School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China

DOI:

https://doi.org/10.13052/ijfp1439-9776.2221

Keywords:

Hydraulic quadruped robot, compliance control, multi-rigid body dynamics, hybrid dynamics, co-simulation

Abstract

The hydraulically driven quadruped robot has received extensive attention from many scholars due to its high power density and adaptability to unstructured terrain. However, the research on hydraulic quadruped robots based on torque control is not mature enough, especially in the aspect of multi-rigid body dynamics. In this paper, the most commonly used gait trot is selected as the research object. First, the multi-rigid motion equation of the quadruped robot is established by the spin recursion method based on Lie groups. Next, the Lagrange multiplier is used to represent the constraint force to establish the 12-degree-of-freedom inverse dynamics model of the quadruped robot’s stance phase. And the hybrid dynamics method is used to reduce the dimension of the inversion matrix, which simplifies the solution process of the dynamics model. Then, the trajectory of the foot is planned. Through the analysis of the simplified model, it is concluded that the gait cycle and the initial position of the stance phase are important factors affecting the stability of the trot gait. Finally, the controller framework of the quadruped robot is introduced, and the effectiveness of the algorithm designed in this paper is verified through the co-simulation of the trot gait. The co-simulation results show that the inverse dynamics algorithm can be used as the feedforward of the control system, which can greatly reduce the gains of the PD controller; the robot has good compliance and can achieve stable trotting.

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Author Biographies

Zhu Rui, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China

Zhu Rui received the B.S. degree in mechanical engineering from Taiyuan University of Technology, China, in 2017. He is currently pursuing the Ph.D. degree in mechatronics engineering from Harbin Institute of Technology, China. His research interests include quadruped robot, electro-hydraulic servo control and nonlinear control.

Yang Qingjun, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China

Yang Qingjun received the Ph.D., M.S. and B.S. degree in mechatronics engineering from Harbin Institute of Technology, China, in 1995, 1997 and 2003. He has been with the mechatronics engineering at Harbin Institute of Technology since 2003 and promoted to the rank of associate professor in 2006. His research interests include fluid control and flow field analysis, hydraulic and pneumatic components design, nonlinear control and adaptive control.

Chen Chen, Shenyang Aircraft Design&Research, Shenyang, China

Chen Chen received the M.S. and B.S. degree in mechatronics engineering from Harbin Institute of Technology, China, in 2018 and 2020. She works in Shenyang Aircraft Design&Research at present. Her research interests include servo valve driver by piezoelectric ceramic and hydraulic control system.

Jiang Chunli, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China

Jiang Chunli received the B.S. degree in mechatronics Engineering from Hefei University of Technology, China, in 2020. He is currently pursuing the M.S. degree in mechatronics engineering from Harbin Institute of Technology. His research interests include electro-hydraulic control and microfluidic.

Li Congfei, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China

Li Congfei received the B.S. degree in mechatronics Engineering from Harbin Institute of Technology, China, in 2020. He is currently pursuing the M.S. degree in mechatronics engineering from Harbin Institute of Technology. His research interests include heat and mass transfer and microfluidic technology.

Wang Yuxuan, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China

Wang Yuxuan received the B.S. degree in College of Mechanical and Electrical Engineering from Hohai University, China, in 2020. He is currently pursuing the M.S. degree in mechatronics engineering from Harbin Institute of Technology. His research interests include hydraulic components and systems and electro-hydraulic control.

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Published

2021-05-29

Issue

Section

GFPS 2020