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This paper examines how various terrains affect the kinematic performance of a quadruped robot using virtual model control (VMC). It emphasizes the importance of understanding the effects of the ground on stability and efficiency in complex environments. The study includes kinematic and dynamic models of quadruped robots, details on stance and swing phase strategies in VMC, and experimental tests on surfaces such as grass, marble, and snow. Results analyze VMC effectiveness and kinematic performance under different ground conditions, highlighting impacts on gait stability and energy efficiency.

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The Effect of Different Terrain on the Motion of a Quadruped Robot Under VMC Control

  • 会议论文

  • 发表日期：

    2025年

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  • Fangfang Zhang,
  • Hao Guo,
  • Jinzhu Peng,
  • Tianlei Ma

摘要

This paper examines how various terrains affect the kinematic performance of a quadruped robot using virtual model control (VMC). It emphasizes the importance of understanding the effects of the ground on stability and efficiency in complex environments. The study includes kinematic and dynamic models of quadruped robots, details on stance and swing phase strategies in VMC, and experimental tests on surfaces such as grass, marble, and snow. Results analyze VMC effectiveness and kinematic performance under different ground conditions, highlighting impacts on gait stability and energy efficiency.