Gait Planning and Stability Analysis of a Quadruped Robot with 2-DOF Parallel Hip and Spine Joints

被引：0
|
作者：
Sang D. [1 ]
Chen Y. [1 ]
Gao J. [1 ]
机构：
[1] School of Mechanical, Electrical Information and Engineering, Shandong University at Weihai, Weihai, 264200, Shandong
来源：
Binggong Xuebao/Acta Armamentarii | 2020年 / 41卷 / 06期
关键词：
Gait planning; Parallel hip joint; Quadruped robot; Stability;
D O I：
10.3969/j.issn.1000-1093.2020.06.016
中图分类号：
学科分类号：
摘要：
A quadruped robot with 2-DOF parallel hip and spine joints is proposed to solve the problems of low carrying capacity and poor walking stability. A kinematics model of standing leg and swinging legs for quadruped robot is developed based on the analytic geometry and coordinate transformation methods, and the variable of driving joint is obtained by inversely solving a foot-end position. A gait planning method of straight walking gait, fixed-point turning gait and stair climbing gait is proposed for a quadruped robot without knee joint. Based on the kinematic equations and gait planning method, the transient stability margin curve and the change curve of barycenter height in the gait cycle were got through MATLAB simulation analysis. The results show that the quadruped robot has better stability. The rationality and effectiveness of the gait planning method is verified through the robot gait test. © 2020, Editorial Board of Acta Armamentarii. All right reserved.
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页码：1188 / 1200
页数：12
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