Effects of spinal structure on quadruped bounding gait

被引：0
|
作者：
Chen Lei [1 ,2 ]
Chen Dongliang [1 ]
Dong Wei [2 ]
机构：
[1] Harbin Engn Univ, Coll Mech & Elect Engn, Harbin, Peoples R China
[2] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Peoples R China
来源：
ROBOTICA | 2022年 / 40卷 / 11期
关键词：
bounding gait; quadruped robot; spine structure; active driving joint; passive driving joint; DRIVEN; DESIGN;
D O I：
10.1017/S0263574722000674
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper proposes a robot model with multiple spines and investigates its effects on the bounding gait of quadruped robot. Contrastive tests, carried out by adding an active driving joint (ADJ) and changing the number of passive driving joints, were divided between simulation and physical. The results reveal that the spinal structure (one ADJ and several passive driving joints) is closely related to the performance parameters. Increasing the number of passive driving joints can improve the velocity and energy efficiency. This structure may have significant guidance for designing a quadruped robot.
引用
收藏
页码：3911 / 3929
页数：19
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