Robust motion of quadruped robot on slippery surface based on virtual model control

The motion of a quadruped robot on a slippery surface is very challenging. Most of the slip detection and recovery methods focus on the stability of the robot, and less attention is paid to its overall motion ability. In this paper, a controller based on virtual model control is designed to make the quadruped robot maintain stability on the wet and slip surface while increasing its speed as much as possible. An anti-toppling strategy based on position control is proposed to improve the robustness of robot motion. And the gait is planned based on the touchdown signal, a slip detection method based on foot position is proposed. On this basis, a speed control strategy is designed. Finally, the effectiveness of the proposed controller is verified by simulation.