Jumping Gait Control of Hydraulic Quadruped Robot

Aiming at the jumping gait control of a hydraulic quadruped robot, the jumping process of the quadruped robot is analyzed based on the springloaded inverted pendulum (SLIP) model theory. Adopting decoupled control ideas, the control motion is divided into horizontal motion control, vertical motion c...

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Bibliographic Details
Published in:Journal of Harbin University of Science and Technology
Main Authors: SHAO Junpeng, CHI Hanwei, SUN Guitao
Format: Article
Language:Chinese
Published: Harbin University of Science and Technology Publications 2021-02-01
Subjects:
quadruped robot
hydraulic drive
motion control
spring loaded inverted pendulum
jumping gait
Online Access:https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1917

Internet

https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1917

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