基于阻抗控制的四足机器人足力控制研究

Research on Foot Force Control of Quadruped Robot Based on Impedance Control

摘要: 四足机器人行走过程中的稳定性与足端接触力有着密切的联系，而且仅采用位置控制无法满足腿部运动柔顺性对足力的要求。因此，有必要研究足式机器人行走过程中的足力控制方法。本文采用阻抗控制方法对四足机器人足力进行控制，运用仿真手段对机器人行走过程中的足力变化进行分析，完成了具有较高实时性和可行性的控制器设计。

Abstract: Robot walking stability is related to contact force between robot foot and the environment. Be-sides, pure position control is not enough in compliance control. Hence it is necessary to study force control method when the robot is walking or running. This thesis uses impedance control method to control contact force of quadruped robot foot with the environment, and analyzes the procedure under simulation study. An online and feasible controller is designed, which is robust to variable environment stiffness and sensor noise.