Balance control of quadruped robot under lateral impact

摘要

Focusing on sudden instability of quadruped robots in practice that results from lateral impact, this paper designs a balance recovery basic algorithm based on roll compensated by the support leg's stretch and foothold searched by the swing leg's step, and then three balance recovery strategies are proposed: the strategy of the support leg adjusting attitude, the strategy of the swing leg stepping and the strategy of two kinds of legs combined. In the end the rationality and viability of the proposed strategies are verified by the results of the Adams simulation experiments.