Design and Simulation Impedance Controller for Trajectory Control with Obstacle of Quadruped Robot’s Leg

Quadruped mobile robots are an important place in robotic and their popularity are increasing because of they have strong obstacle capability. This paper presents design and simulation of an impedance controller for one leg of a quadruped robot with two degrees of freedom to ensure control in desired a trajectory with obstacle. In order that the quadruped robot is the basis for obstacle walking studies; an obstacle are identified in the walking profile of the leg and the trajectory control are performed by the impedance control method. The CAD model of the system are built using SolidWorks and imported into MATLAB/SimMechanics. The impedance and PID controller are designed in MATLAB/Simulink, tuned gains using trial-error method and MATLAB auto-tune method. Impedance controller are used for trajectory control, PID controller are used for angular position control of the leg. Angler position of the leg joints are obtained using inverse kinematic solutions. The model is simulated in MATLAB and the simulation results are presented in graphical form to investigate the controllers.