Optimization Method of Impedance Control Parameters of Quadruped Robot Based on Dynamic Consistency *

Abstract

Legged robots have become a research hotspot in recent years due to their flexible characteristics, especially the movement ability in complex environments. Impedance control has a unique effect in solving robot compliance and is one of the main methods to solve this problems. Although there are many discussions on the selection of impedance control parameters, most research are focused on single leg platforms. This paper starts by analysing the role of single leg in quadruped robot platform, and proposes an impedance parameter optimization method based on the overall dynamic consistency of quadruped robot. Through the proposed method, we realized the automatic adjustment of the robot’s expected foot force and impedance controller parameters based on the load. By introducing the strategy of ceiling control, the robot can return to a stable state of motion as soon as possible while taking into account flexibility, which effectively reduces the fluctuation of the robot in motion. We verify the effectiveness of this method on both single-leg platform and quadruped robot platform through experiments.