Parameter Optimization and Gait Control of Quadruped Parallel Legged Robot

陈明方; 李明; 张永霞; 陈中平; 莫翔

doi:10.13433/j.cnki.1003-8728.20230314

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Parameter Optimization and Gait Control of Quadruped Parallel Legged Robot

更新时间：2026-04-23

- Parameter Optimization and Gait Control of Quadruped Parallel Legged Robot
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 8, Pages: 1326-1334(2025)
- 作者机构：
  
  1. 昆明理工大学机构机电工程学院,昆明,650500
  2. 攀枝花市经济和信息化局,四川,攀枝花,617000
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230314
  CLC：
- Published：2025
- 稿件说明：
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陈明方, 李明, 张永霞, et al. Parameter Optimization and Gait Control of Quadruped Parallel Legged Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(8): 1326-1334.
DOI：

陈明方, 李明, 张永霞, et al. Parameter Optimization and Gait Control of Quadruped Parallel Legged Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(8): 1326-1334. DOI： 10.13433/j.cnki.1003-8728.20230314.

摘要

四足机器人并联腿的结构刚度好、运动精度高、动态性能好，但控制难度大。为解决并联腿四足机器人的控制和性能优化问题，本文对四足机器人的平面2自由度5R并联腿机械结构进行分析，采用弹簧-负载倒立摆模型控制，将SLIP模型等效拓展到四足机器人的对角小跑(trot)步态控制。使用遗传算法以能量损耗和运动误差为适应度函数对SLIP的相关系统参数进行优化，并总结系统参数对能量损耗和运动误差的影响。仿真结果显示四足机器人平地运动速度、跳跃高度、机身俯仰位置的最大误差分别为1.95％、2.36％、0.47°。

Abstract

The parallel legs of quadruped robot have good structural stiffness

accurate movement and strong bearing capacity

but the control is difficult. In order to solve the control and performance optimization problems of parallel-legged quadruped robot

the planar 2DOF 5R parallel leg mechanical structure of a quadruped robot is analyzed in this paper

with the Spring-Load Inverted Pendulum model control

the SLIP model is equivalently extended to the trot gait control of the quadruped robot. The genetic algorithm was used to optimize the relevant system parameters of SLIP with energy loss and motion error as the fitting functions

and the influence of the system parameters on the energy loss and motion error was summarized. Simulation result displays that the maximum errors of the four-legged robot′s motion speed

jumping height and body pitching position on the flat are 1.95%

2.36% and 0.47° respectively.

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