HYBRID POSITION/FORCE CONTROL OF THE PLANAR TROTTING QUADRUPED ROBOT

This paper presents a hybrid position/force control algorithm to perform motion control of the quadruped robot based on a simplified planar model in sagittal plane which can describe the main dynamical characters of trotting gait. In order to realize the approximation of body motion decoupling, the vertical position and pitch of the body are controlled by using position servo and the horizontal position control is performed by using force control. And several constraints are considered to maintain the balance of the body during motion control, so as to increase the robustness of the robot while large interference are exerted. Simulation is carried out to validate the effectiveness of the proposed algorithm in Matlab/SimMechanics.