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The research of quadruped robots is fundamentally motivated by their excellent performance in complex terrain. Maintaining the trunk moving smoothly is the basis of assuring the stable locomotion of the robot. In this paper we propose a planning and control strategy for the pacing gait of hydraulic quadruped robots based on the centroid. Initially, the kinematic model between the single leg and the robot trunk was established. The coupling of trunk motion and leg motion was elaborated on in detail. Then, the real-time attitude feedback information of the trunk was considered, the motion trajectory of the trunk centroid was planned, and the foot trajectory of the robot was carried out. Further, the joint torques were calculated that fulfillment minimization of the contact forces. The position and attitude of the robot trunk were adjusted by the presented controller. Finally, the performance of the proposed control framework was tested in simulations and on a robot platform. By comparing the attitude of the robot trunk, the experimental results show that the trunk moved smoothly with small-magnitude by the proposed controller. The stable dynamic motion of the hydraulic quadruped robot was accomplished, which verified the effectiveness and feasibility of the proposed control strategy.

The Complex Dynamic Locomotive Control and Experimental Research of a Quadruped-Robot Based on the Robot Trunk