A Cheetah-mimicking Quadruped Running Robot with 2DOF Articulated Trunk

被引：0
|
作者：
Wang Q. [1 ]
Zhang X. [1 ]
Jiang L. [2 ]
Huang S. [1 ]
Yao Y. [1 ]
机构：
[1] School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing
[2] China North Vehicle Research Institute, Beijing
来源：
Jiqiren/Robot | 2022年 / 44卷 / 03期
关键词：
Articulated trunk; Bionics; Dynamics; Particle swarm optimization; Quadruped robot;
D O I：
10.13973/j.cnki.robot.210101
中图分类号：
学科分类号：
摘要：
In order to explore the mechanism of leg movements enhanced by spinal movements, a cheetah-mimicking quadruped running robot with 2-DOF (degree of freedom) articulated trunk is designed. The mechanical processes of the running motion in bound gait with flying phase are described. The dynamics model of the quadruped robot is established using a damped spring loaded inverted pendulum (D-SLIP) model. Referring to the running mode of cheetahs, the trajectories of the coupled motions of the spine joints and leg joints of the quadruped robot are planned. An improved PSO (particle swarm optimization) algorithm is proposed to solve the nested optimization problem with target mutual exclusion between the dimensional parameters of actuation mechanism of robot spine joint and the control parameters of motion trajectory. The dynamic simulations of the running motion of the quadruped robot in bound gait are carried out. The results show that the coordinated movements between the spine and the legs can increase the stride length of the quadruped robot and allow the robot generating flying phases, so as to improve the running speed of the robot. © 2022, Science Press. All right reserved.
引用
收藏
页码：257 / 266
页数：9
相关论文
共 27 条
  • [1] Hildebrand M., Motions of the running cheetah and horse, Journal of Mammalogy, 40, 4, pp. 481-495, (1959)
  • [2] Hildebrand M., Further studies on locomotion of the cheetah, Journal of Mammalogy, 42, 1, pp. 84-91, (1961)
  • [3] Gambaryan P P., How mammals run: Anatomical adaptations, BioScience, 25, 8, (1975)
  • [4] Schilling N, Hackert R., Sagittal spine movements of small therian mammals during asymmetrical gaits, Journal of Experimental Biology, 209, 19, pp. 3925-3939, (2006)
  • [5] Alexander R M, Dimery N J, Ker R F., Elastic structures in the back and their role in galloping in some mammals, Journal of Zoology, 207, 4, pp. 467-482, (1985)
  • [6] Gray J., How animals move, (1953)
  • [7] Semini C, Tsagarakis N G, Guglielmino E, Et al., Design of HyQ-A hydraulically and electrically actuated quadruped robot, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 225, I6, pp. 831-849, (2011)
  • [8] Semini C, Barasuol V, Goldsmith J, Et al., Design of the hydraulically actuated, torque-controlled quadruped robot HyQ2Max, IEEE/ASME Transactions on Mechatronics, 22, 2, pp. 635-646, (2017)
  • [9] Hutter M, Gehring C, Jud D, Et al., ANYmal-A highly mobile and dynamic quadrupedal robot, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 38-44, (2016)
  • [10] Park HW, Park S, Kim S., Variable-speed quadrupedal bounding using impulse planning: Untethered high-speed 3D running of MIT Cheetah 2, IEEE International Conference on Robotics and Automation, pp. 5163-5170, (2015)
123