Abstract:Based on Virtual Model Control method, the control laws of the single leg for stance phase and swing phase were obtained from the single leg Jacobian of the quadruped robot. In order to realize the full body control, a decomposed method was proposed, which decomposes the body control objectives of the quadruped robot into each standing leg control. The virtual components of each standing leg were set up, and the virtual forces were transformed into desired joint torques to achieve the virtual model control for standing leg. The swing foot trajectories were planned in real time and the virtual components were used to connect the swing foot and the planned trajectories, so that the virtual model control for swing leg was realized. Based on the switching rule of the leg phase sequence, simulations about velocity control and disturbance rejection were studied with a planar quadruped model using trotting gait. The simulation results verified that the proposed control method is effective in height, speed and pitch angle control of the body, can achieve dynamic control of the quadrupedal trotting locomotion, and is robust for disturbance rejection.