Active impedance control based adaptive locomotion for a bionic hexapod robot

Abstract

In recent years, with the continuous development of human exploration of the natural world, there has been a growing demand across various fields for robots capable of free movement in diverse environments. In this study, we address the issue of compliant control for a hexapod robot in diverse environments and propose a novel control method based on an adaptive impedance model for position control. Our approach enables the hexapod robot to stabilize foot force on complex terrains while preserving balance and body height. Specifically, we analyze the algorithm's parameters and stability by establishing the hexapod robot's structural and impedance control models. To tackle this challenge, we introduce an adaptive impedance control algorithm that estimates environmental parameters using Lyapunov's asymptotic stability theorem and achieves tracking of actual foot‐end forces to desired foot forces. Furthermore, to ensure body stability and height, we incorporate attitude feedback and body feedback. Experimental results from foot force control experiments conducted on a multilegged robot demonstrate that our proposed algorithm enhances the adaptability and robustness of the robot. This research holds significant implications for the stable control of hexapod robots in complex environments and has promising practical applications.