Balance Control of a Quadruped Robot Based on Foot Fall Adjustment

Balance Control of a Quadruped Robot Based on Foot Fall Adjustment

To balance the diagonal gait of a quadruped robot, a dynamic balance control method is presented to improve the stability of the quadruped robot by adjusting its foot position. We set up a trunk-based coordinate system and a hip-based local coordinate system for the quadruped robot, established the...

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Bibliographic Details
Main Authors: Wenkai Sun, Xiaojie Tian, Yong Song, Bao Pang, Xianfeng Yuan, Qingyang Xu
Format: Article
Language:English
Published: MDPI AG 2022-02-01
Series:Applied Sciences
Subjects:
diagonal gait
quadruped robot
dynamic balance control
attitude feedback
landing time difference
Online Access:https://www.mdpi.com/2076-3417/12/5/2521

Internet

https://www.mdpi.com/2076-3417/12/5/2521

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