Method for controlling quadruped robot to overcome obstacles

摘要

A control method of a quadruped walking robot is disclosed, which enables a more intuitive and comprehensive form of walking stability judgment rather than judging walking stability by static stability margin or dynamic stability margin, which have limitations depending on the walking method. The control method comprises the steps of: detecting the current state of the quadruped walking robot; generating an elliptical trajectory centered on the toes of the quadruped walking robot; modifying the center of the elliptical trajectory; and calculating the force (F), position (X), and velocity (X) of the toes of the quadruped walking robot by inverse kinematics. ), angle( ), and angular velocity ( ) is characterized by including a step of calculating.