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IJMERR 2023 Vol.12(1): 40-47
DOI: 10.18178/ijmerr.12.1.40-47

Cascaded PID Trajectory Tracking Control for Quadruped Robotic Leg

Ahmed M. El-Dalatony, Tamer Attia, Hossam Ragheb, and Alhossein M. Sharaf
Military Technical College, Cairo, Egypt

Manuscript received June 6, 2022; revised July 1, 2022; accepted August 12, 2022.

Abstract—This paper presents a cascaded Proportional Integral Derivative (PID) trajectory tracking controller to control the foot's tip of a quadruped robotic leg. The proposed robotic leg is designed and developed using electric Quasi-Direct Drive (QDD) actuators with high efficiency and torque density. Both the forward and inverse kinematics of the robotic leg are introduced to generate the desired path with the associated velocity of the foot's tip. Furthermore, the cascaded PID trajectory tracking controller is developed as a low-level controller to control the position and angular velocity of each leg's joint. Both the numerical simulation and experimental results showed that the proposed controller succeeded in tracking the desired trajectory with high accuracy and robustness of two different types of trajectories.

Keywords—trajectory tracking control, quadruped robots, cascaded PID controller

Cite: Ahmed M. El-Dalatony*, Tamer Attia, Hossam Ragheb, and Alhossein M. Sharaf, "Cascaded PID Trajectory Tracking Control for Quadruped Robotic Leg," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 1, pp. 40-47, January 2023. DOI: 10.18178/ijmerr.12.1.40-47

Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.