Active disturbances rejection control of a quadruped robot leg

This paper is focused on the control of a biologically-inspired quadruped robot leg. After a brief introduction of mechanical construction, the leg's dynamic equations in operational space are built and active disturbances rejection controllers are designed for three degrees of freedom (DOF). The extended Jacobian matrix method is used to optimize redundant DOF. The core of this work is the comparison of performance between Active Disturbances Rejection Control (ADRC) and conventional PD control, and the robustness of ADRC in disturbance or model uncertainty conditions. Simulation results suggest that ADRC can solve the contradiction between rapid responses and overshoot well and improve the end positioning accuracy by an order of magnitude. Its behavior worsens little when model offsets or disturbed by measuring noise.

[1]  Zengqiang Chen,et al.  Application and analysis of ADRC in guidance and control in flight vehicle—Some explorations in various time-scale paradigms , 2010, Proceedings of the 29th Chinese Control Conference.

[2]  Zhou Yun-long.  Sliding mode control on hip joint with 3 DOF of biped robot , 2006 .

[3]  M. Raibert.  Symmetry in running. , 1986, Science.

[4]  Shuuji Kajita,et al.  The Human-size Humanoid Robot That Can Walk, Lie Down and Get Up , 2005, Int. J. Robotics Res..

[5]  Ferdinando Cannella,et al.  Design of HyQ – a hydraulically and electrically actuated quadruped robot , 2011 .

[6]  Stefan Schaal,et al.  Compliant quadruped locomotion over rough terrain , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Roland Siegwart,et al.  Control of dynamic gaits for a quadrupedal robot , 2013, 2013 IEEE International Conference on Robotics and Automation.

[8]  Guang Jin,et al.  Linear auto disturbance rejection controller for vector-controlled PMSM drive system , 2011, Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE).