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Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves.

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Summary

This study introduces a new control strategy for quadruped robots, using impedance control and Bézier curves for stable locomotion. The method simplifies motion planning, enabling robots to navigate complex terrains effectively.

Keywords:
Bézier curvesbody controlimpedance controllegged controlquadruped robots

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Area of Science:

  • Robotics
  • Control Systems
  • Mechatronics

Background:

  • Quadruped robots require precise foot placement and leg control for safe task execution in challenging environments.
  • Traditional motion planning methods often depend on complex, computationally intensive models of the robot and its surroundings.
  • Simplified kinematic models of the robot's floating base offer a more accessible approach to motion planning.

Purpose of the Study:

  • To present a novel control strategy for quadruped robots using impedance control for each leg.
  • To simplify motion planning by focusing on the robot's planar kinematic model and utilizing Bézier curves for trajectory generation.
  • To validate the proposed control strategy through simulation and physical experiments.

Main Methods:

  • Implementing impedance control for individual legs of the quadruped robot.
  • Utilizing sixth-degree Bézier curves to generate reference trajectories based on leg velocities.
  • Employing a planar kinematic model for body control to guide the robot along predefined paths.
  • Developing and testing the control strategy within the Robot Operating System (ROS).

Main Results:

  • The proposed control strategy effectively guides the quadruped robot along predefined paths.
  • Simulations and experiments on the Go1 robot demonstrated the strategy's effectiveness in tracking reference trajectories.
  • The robot exhibited stable walking and trotting gaits under the implemented control scheme.

Conclusions:

  • The novel control strategy enables quadruped robots to achieve stable locomotion with precise trajectory tracking.
  • The approach simplifies motion planning and control, making it adaptable to various hardware configurations and environments.
  • The integration of impedance control and Bézier curve trajectory generation offers a robust solution for quadruped robot navigation.