Gait planning for quadruped robot with parallel spine

被引：2
|
作者：
Li Z.-W. [1 ]
Wang B.-R. [1 ]
Chen D.-J. [1 ]
机构：
[1] College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou
来源：
Chen, Di-Jian (djchen@cjlu.edu.cn) | 2018年 / Zhejiang University卷 / 52期
关键词：
Active spine; Central pattern generator(CPG); Gaitplanning; Parallel mechanism; Quadruped robot;
D O I：
10.3785/j.issn.1008-973X.2018.07.006
中图分类号：
学科分类号：
摘要：
A 3-RPS parallel structure was added as the spine based on the quadruped robot with rigid body in order to increase the range of motion and absorb ground impact for legged robots. The kinematics model of robot with spine was established to relate between the rotation of spine and centroid. Twisting trot gait was planned by the yaw joint of spine based on trot gait. The coupled central pattern generator (CPG)was constructed by five Hopf oscillator models in order to output gait curves of limbs and spine. Analysis of longitudinal stable operating conditions of quadruped robot using zero moment point was conducted. The simulation and experimental results show that active spine can reduce pitch fluctuation of the robot by 45.79%, correct the yaw position and improve the stability and coordination during movement compared with rigid torso robot. The periodic rotation of the spine does not lead to a mutation of the centroid. Robot with active spine has a better performance for the stabilizing and motion by the coordination between rotating spine and swinging limbs. © 2018, Zhejiang University Press. All right reserved.
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页码：1267 / 1274
页数：7
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