关键词: 四足机器人, 柔性关节, 变刚度, 对角小跑, 控制策略

Abstract: To improve the adaptability and stable motion ability in the complex environment,a diagonal trot motion control strategy of quadruped robot with active and passive Variable Stiffness Joint(apVSJ) was proposed.Based on Spring Loaded Inverted Pendulum (SLIP) model and control target decoupling method,the joint planning of diagonal legs for vacated phase,control strategies of forward speed,fuselage height and pitch adjustment for ground phase were designed separately,and active control strategy of leg stiffness was put forward.Then the gait motion planning of quadruped robot in diagonal trot based on foot touchdown state was completed,and a quadruped robot prototype based on active and passive variable stiffness joint was developed.The effectiveness and correctness of the motion control strategy were verified by the prototype experiments carried out.

Key words: quadruped robot, flexible joint, variable stiffness, diagonal trot, control strategy