Research

This research aims to address the following key issues: (1) To get the inverse dynamics model sets for stance phase and swing phase respectively for the purpose of facilitating the computing and control of inverse dynamics of quadruped robots. This is motivated by the observation that the robot shows different dynamics characteristics during the stance phase and the swing phase. (2) To create the model of the foot-ground coupled dynamics and implement the geological adaptive locomotion. So our effort focuses on body dynamics derived from kinematic and dynamics properties during locomotion on different ground environments, such as the asphalt pavements, lawn, sandy land and so on. Through body dynamics we can get classification and identification of the environment geology, which are needed for the geological adaptive locomotion. (3) To design the smooth and compliant trajectory for COG (center of gravity) adjustment, and to investigate the posture control strategy for the stability of locomotion. (4) To plan the collision-free foot path for the local discontinuous terrain, and to generate the time optimal joint trajectories through the nonlinear optimal method based on the constraints of velocity and acceleration.  The significance of this research is outlined bellow: geological adaptive locomotion is an unresolved theoretical problem in quadruped robots and also a premise for the prospective application of quadruped robots. Current rhythm of biology based methods, such as CPG (central pattern generator), are not available for the geological adaptive locomotion. It is convinced that the geological adaptive locomotion is becoming the theoretical constraint of quadruped robot development, and an innovative research topic.