Dynamic Force-Position Control Of The Walking Robots Motion On Slope

摘要

The paper presents a strategy for the dynamic hybrid force-position control of the walking robot motion on slope using the ZMP method for dynamic control and a stable and robust method. Through dynamic and kinematic modeling of the walking robots motion an open architecture system was developed which contains five control interfaces. The stability problem of quadruped walking robots, through extendible segments which are designed to reduce the difficulty of walking on slope, and also by using them to avoid obstacles that may occur during a stepping cycle are presented. The results obtained have led to an improvement in the response time to disturbances, to tracking the motion trajectory with higher precision in conditions of high stability and to development of new technological capabilities, adapting the robot walking to movement over sloped terrain, with obstacles and bumps.