Modeling and hierarchical fuzzy control for locomotion control of the quadruped robot

In this paper, a stabilised motion method is proposed to control the different motions of a quadruped robot under different commands. By simplifying the motion model of the quadruped robot to a virtual spring damping driven model and analysing the variables affecting the change of the pitch angle of the body attitude in the motion state, the stable motion capability of the quadruped robot in different states is achieved by extracting and changing the variables to be controlled according to the given rules based on the concept of hierarchical fuzzy control. Several experiments are carried out in the simulation software to verify the feasibility of the proposed control method for stable control of the robot motion.