Trotting and Pacing Locomotion of a Position-Controlled Quadruped Robot
Guoteng Zhang,Yibin Li,Shugen Ma,Guoteng Zhang,Yibin Li,Shugen Ma
Compared with torque-control techniques, a position-controlled quadruped robot is lower cost, easier to build, and more direct to drive. However, the stiff actuation of position-controlled actuators makes it difficult for the quadruped to achieve dynamically stable locomotion. This paper presents an implementation of joint velocity programming technique to regulate the body’s moving speed and orie...
