Optimal impedance control of a quadruped robot with gripper arm

In this study, the mathematical modeling of a quadruped robot with a gripper arm (TUKSDAR), optimal impedance control, and gait optimization have been performed. Impedance control plays a critical role in robot technology as it enables the robot to move in a compliant manner and perform tasks safely in interaction with the environment. For TUKSDAR to be effectively utilized in object manipulation, walking, and other fundamental tasks, the design of novel scenario algorithms was necessary, incorporating impedance control. The implementation of these scenarios and the analysis of movements facilitated the optimization of impedance control parameters. This approach ensured that the robot interacts efficiently with objects and its surroundings, exhibiting compatible motion patterns. TUKSDAR's impedance control technique includes PID – based cartesian impedance control in its legs and gripper arm, allowing for precise interaction with objects, force application, and grasping capabilities. Additionally, dynamic measures were integrated into the impedance control design to maintain the robot's balance. TUKSDAR's balance system was innovatively designed, utilizing the tilt angles of the main body to modify the interaction positions of its foot endpoints. This study aims to emphasize the advantage of quadruped robots over wheeled robots, particularly in challenging terrain conditions and their potential usability in rescue missions involving hazardous situations for humans such as earthquakes, nuclear disasters, and chemical hazards. Impedance control, together with its ability to enable safe and effective movement in such hazardous environments, holds great potential for protecting human lives and supporting rescue operations. The results obtained from the conducted studies have been presented numerically and graphically, demonstrating that a quadruped robot with a gripper arm (TUKSDAR), incorporating various algorithms for impedance control techniques, can successfully and safely perform its tasks in different environments and predefined scenarios.