A New Trajectory Tracking Control Method for Fully Electrically Driven Quadruped Robot

A New Trajectory Tracking Control Method for Fully Electrically Driven Quadruped Robot

To improve the accuracy of tracking the trunk center-of-mass (CoM) trajectory and foot-end trajectory in a fully electrically driven quadruped robot, an efficient and practical new trajectory tracking control method is designed. The proposed trajectory tracking method is mainly divided into trunk ba...

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Bibliographic Details
Main Authors: Yulong You, Zhong Yang, Teng’an Zou, Yaoyu Sui, Changliang Xu, Chi Zhang, Hao Xu, Zhao Zhang, Jiaming Han
Format: Article
Language:English
Published: MDPI AG 2022-04-01
Series:Machines
Subjects:
quadruped robot
Bessel curve
trajectory tracking
RBFNN
supervisory control
Online Access:https://www.mdpi.com/2075-1702/10/5/292

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