A Velocity Tracking Method for Quadruped Robot with Rhythm Controller

In the motion performance of quadruped robots, the velocity is a very important item. It is hoped that a quadruped robot can move stably in accordance with the expected velocity. In this work, a velocity autonomous tracking method is proposed to realize real-time velocity tracking during the movement of quadruped robots. Firstly, the gait learning process of a quadruped robot is completed based on deep reinforcement learning, and the velocity adaptation ranges of different gaits are obtained. After that, the gait selection and velocity tracking controller selects the gait according to the desired velocity firstly, and makes periodic dynamic adjustment according to the velocity error signal after, thus completing the velocity tacking of the robot. The effectiveness of the method is verified by simulation experiments. The quadruped robot can well complete the velocity tracking task under different gaits, and the movement is relatively stable.