Controle dinâmico de marcha e passo para um robô quadrupede utilizando curvas de Bézier

Abstract

Animals have the ability to move in unstructured terrain. Robotics researchers study this ability to perform tasks in industrial, mining, oil and gas, and disaster environments. However, for a robot to perform this locomotion efficiently in different environments, it is necessary to plan the steps as well as the synchronized control of its legs. This article considers a quadruped robot with legs modeled using the Euler-Lagrange equations. Each leg has an impedance control that receives reference trajectories from gait patterns through 6th degree Bézier curves. Leg control and gait patterns were implemented in Matlab and simulated in CoopeliaSim using the Vortex realistic physics engine. The results obtained in the simulation demonstrate that the proposed controller is able to track the Bézier curve used as a reference, making the robot move with static walking and trotting gait patterns, presenting a compliance to forces applied to the feet.