Velocity control of the quadruped robot based on force control

The quadruped robot can achieve stable locomotion with contact force control. The key technology of it is to convert the control of the center of mass (COM) to the control of supporting legs. In this passage, a control strategy is presented based on model decomposition on trotting gait. The quadruped robot in supporting phase can be decomposed into a seven-link planar and a linear inverted pendulum. By controlling the contact force of the supporting feet and the foothold of the linear inverted pendulum, the quadruped robot can achieve steady locomotion. Then the simulation and experiment results show that the robot can track the desired velocity exactly and steadily.