Trajectory Tracking Control for Six-legged Robot by Correction of Leg Link Target Trajectories Based on LQI Control

摘要

In this study, a trajectory tracking control method for the walking direction of a six-legged robot was developed. We proposed an error correction method for the motion of the rotating links in the horizontal direction and the yaw angle. From the proposed control method, the equations of motion in the x and y directions and the yaw angle of the robot’s motion were derived, and an optimal linear-quadratic-integral (LQI) servo system was introduced. The walking directional control inputs were converted to modified signals for the rotation angles in the support phase. The modified signals were then added to the reference signals for the original trajectory. A proportional-derivative controller for each rotating link in the support phase received the modified signal. The LQI controller worked to decrease the errors between the planned trajectory and the actual trajectory. We examined the effectiveness of the proposed control design method using 3D simulations of a robot following straight and semicircular trajectories.