Dynamics of a Quadruped Robot during Locomotion | |
Xiaoqi, Li1,2; Wei, Wang1,2; Jianqiang, Yi1,2 | |
2014 | |
会议日期 | December 5-10, 2014 |
会议地点 | Bali, Indonesia |
英文摘要 |
In this paper we analyze characteristics of the ground reaction force (GRF) experienced by the legs of the quadruped robot during stance phase in walk gait, in particular, when the height of center of gravity (COG) of the quadruped robot is changeable. We also build the dynamics model of the quadruped robot. Two dynamics equations during swing phase
and stance phase are established, respectively. Additionally, we design a controller to adjust the height of COG of the quadruped robot. The controller uses the central pattern
generator (CPG) model to generate basic rhythmic motion, and utilizes the discrete tracking differentiator (TD) to implement the transition between two different rhythmic medium values of the CPG. The combination of the CPG model and the discrete TD enables the quadruped robot to adjust the height of COG according to the environment. The ground reaction peak force and the joint torque of the quadruped robot increase with the reduction of the height of COG. Finally, we give a simulation example and the results, including an analysis of the vertical reaction force and the joint torque of the quadruped robot. |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/14463] |
专题 | 自动化研究所_综合信息系统研究中心 |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Xiaoqi, Li,Wei, Wang,Jianqiang, Yi. Dynamics of a Quadruped Robot during Locomotion[C]. 见:. Bali, Indonesia. December 5-10, 2014. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论