基于阻抗和虚拟模型的四足机器人控制方法

为提高四足机器人的运动稳定性，提出基于阻抗和虚拟模型的控制方法。采用基于力的阻抗控制方法进行腿部摆动相的控制，实现摆动相较为精准的轨迹跟踪以及腿部的柔顺控制；采用虚拟模型控制方法进行支撑相的控制，实现对机器人机身姿态的控制，实现了四足机器人的稳定行走。结合横向跨步策略以及虚拟模型的偏航角控制策略，提出机器人抗侧向冲击控制方法，保证了四足机器人受侧向冲击后能够保持平衡并恢复运动状态。仿真结果验证了所提出的控制方法的有效性。

Control of Quadruped Robot Based on Impedance and Virtual Model

In order to improve the motion stability of quadruped robot, a control method based on impedance and virtual model is proposed. The force-based impedance control method is used to control the leg swing phase to realize the more accurate trajectory tracking and leg compliance control. The virtual model control method is used to control the support phase to realize the attitude control of the robot body and the stable walking of the quadruped robot. Combined with the lateral stride strategy and the yaw angle control strategy based on virtual model, a robot anti-lateral impact control method is proposed, which ensures that the quadruped robot maintains balance and resumes its motion state after being subjected to lateral impact. The simulation results verify the effectiveness of the proposed control method.