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首页> 外文会议>International Workshop on Robot Motion and Control >A Novel Locomotion Controller Based on Coordination Between Leg and Spine for a Quadruped Salamander-Like Robot
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A Novel Locomotion Controller Based on Coordination Between Leg and Spine for a Quadruped Salamander-Like Robot

机译：基于四肢Sal机器人的基于腿部和脊柱协调的新型运动控制器

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摘要

In this paper, a quadruped salamander-like robot with the capability of traversing complex terrain is developed, which presents not only leg joints used in traditional legged robots, but also spine joints, so as to increases its flexibility. To coordinate spine and leg joints to balance the robot's center of gravity, a novel control method is proposed, which consists of an inverse kinematics-based control, a bio-inspired mechanism, and a coordination law. Specifically, the inverse kinematics is utilized to calculate the control for the legs, and biological inspiration is employed for the control of the spine, while the coordination between the legs and the spine is ensured by the utilization of the static stability principle. Some typical experiments, including walking straight, turning, and avoiding obstacles, are performed for the developed quadruped salamander-like robot, with the collected results convincingly demonstrating the effectiveness of the proposed control method and the developed robot.
机译：本文开发了一种具有穿越复杂地形能力的四足sal状机器人，不仅提出了传统有腿机器人所用的腿关节，而且还提出了脊柱关节，从而增加了其灵活性。为了协调脊柱和腿部关节以平衡机器人的重心，提出了一种新颖的控制方法，该方法包括基于逆运动学的控制，受生物启发的机制以及协调律。具体地，利用逆运动学来计算对腿的控制，并利用生物学灵感来控制脊柱，同时通过利用静态稳定性原理来确保腿与脊柱之间的协调。对已开发的四足-状机器人进行了一些典型的实验，包括直行，转弯和避开障碍物，收集的结果令人信服地证明了所提出的控制方法和已开发的机器人的有效性。

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