Locomotion control for quadruped robots is commonly applied on rigid terrains with modelled contact dynamics. However, the robot traversing different terrains is more important for real application. In this paper, a single-leg prototype and a test platform are built. The Cartesian coordinates of the foot-end are obtained through trajectory planning, and then, the virtual polar coordinates in the impedance control are obtained through geometric transformation. The deviation from the planned and actual virtual polar coordinates and the expected force recognized by the ground compliance identification system are sent to the impedance controller for different compliances. At last, several experiments are carried out for evaluating the performance including the ground compliance identification, the foot-end trajectory control, and the comparison between pure position control and impedance control.

中文翻译：

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具有地面柔量估计的四足机器人的腿部运动适应

四足机器人的运动控制通常应用于具有模拟接触动力学的刚性地形。但是，对于实际应用而言，穿越不同地形的机器人更为重要。本文构建了单腿原型和测试平台。通过轨迹规划获得脚底的笛卡尔坐标，然后通过几何变换获得阻抗控制中的虚拟极坐标。与计划和实际虚拟极坐标的偏差以及地面柔度识别系统识别出的预期力会发送到阻抗控制器以实现不同的柔度。最后，进行了几项评估性能的实验，包括地面顺应性识别，脚端轨迹控制，