Research on the Motion State Control of Quadruped Running Robot Based on Backward Control

Aiming at the control problem of quadruped robot in fast and stable running state, a backward control method of quadruped robot based on CPG was proposed in this paper. Rhythm signal produced by central pattern generator (CPG) to control the height of the body, pitching angle, and the periodic generation and switching of foot trajectory can be realized. At the same time, the impedance control was used to realize TD detection and feedback the parameter signal about the stability to the robot. The virtual force generated by PD control of trajectory deviation was fed back to the system to form a closed-loop backward control. Simulation results were given to show that this method can make the quadruped robot run at a stable and high speed.