Aiming at the problems of common methods in trotting gait control of a load-carrying quadruped walking vehicle, a control method, combining virtual model and centroidal dynamics, is proposed. The control of the walking vehicle is divided into two parts, meaning the motion control of the vehicle body and the motion control of the swing leg. The virtual model control method is used to work out the accelerations of the vehicle body, while the centroidal dynamics approach is used to obtain the resultant forces acting on the vehicle. Next, quadratic programming is used to distribute the resultant forces to the foot-ends of the supporting legs. Last, combining the Jacobian matrices of supporting legs, the vehicle body’s motion control is achieved. The virtual forces, acting on the swing leg foot-end, are obtained using the virtual model control method. Combining the swing leg’s Jacobian matrix, joint torques of swing leg are worked out. Simulink and Adams are adopted to jointly simulate omnidirectional trotting of the vehicle, under the condition of fixed and shifting position of eccentric weight. The effects of the virtual model and centroidal dynamics control method are compared with that of the virtual model control method. The results show that the errors of roll angle and pitch angle are reduced by 50%, 89% and 50%, 80%, respectively, as derived by virtual model and centroidal dynamic control method, under the two conditions. The proposed control algorithm is proved effective.

中文翻译：

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偏心躯干负重四足步行车小跑步态控制

针对载重四足步行车小跑步态控制常用方法存在的问题，提出了一种虚拟模型与质心动力学相结合的控制方法。步行车的控制分为两部分，即车体的运动控制和摆腿的运动控制。虚拟模型控制方法用于计算车身加速度，而质心动力学方法用于获得作用在车辆上的合力。接下来，二次规划用于将合力分布到支撑腿的脚端。最后，结合支撑腿的雅可比矩阵，实现车身的运动控制。使用虚拟模型控制方法获得作用在摆动腿脚端的虚拟力。结合摆腿的雅可比矩阵，计算出摆腿的关节力矩。采用 Simulink 和 Adams 联合模拟车辆在偏心重块位置固定和移动情况下的全向小跑。将虚拟模型和质心动力学控制方法的效果与虚拟模型控制方法的效果进行了比较。结果表明，在两种工况下，通过虚拟模型和质心动态控制方法推导出的滚转角和俯仰角误差分别降低了50%、89%和50%、80%。所提出的控制算法被证明是有效的。在偏心重块固定和移动位置的情况下。将虚拟模型和质心动力学控制方法的效果与虚拟模型控制方法的效果进行了比较。结果表明，在两种工况下，通过虚拟模型和质心动态控制方法推导出的滚转角和俯仰角误差分别降低了50%、89%和50%、80%。所提出的控制算法被证明是有效的。在偏心重块固定和移动位置的情况下。将虚拟模型和质心动力学控制方法的效果与虚拟模型控制方法的效果进行了比较。结果表明，在两种工况下，通过虚拟模型和质心动态控制方法推导出的滚转角和俯仰角误差分别降低了50%、89%和50%、80%。所提出的控制算法被证明是有效的。