Dynamics and Stable Gait Planning of a Quadruped Robot

被引：0
|
作者：
Zamani, Ali [1 ]
Khorram, Mahdi [1 ]
Moosavian, S. Ali A. [1 ]
机构：
[1] KN Toosi Univ Technol, Dept Mech Engn, Tehran, Iran
来源：
2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2011年
关键词：
kinematics; dynamics; gait planning; stability;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, dynamics and gait planning of a quadruped robot is discussed. To this end, using Lagrangian method the equations of motion are first derived. Then, an approach is proposed to eliminate the terms corresponding to the constraints caused by the feet on the ground. The obtained dynamics model is validated using Matlab SimMechanics. Finally, gait planning of the robot is developed such that the robot can walk with a given speed over a flat terrain while the robot center of mass remains inside the support polygon. Obtained results reveal stable walking of a quadruped robot based on the proposed approach.
引用
收藏
页码：25 / 30
页数：6
相关论文
共 50 条
  • [1] Dynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
    Khorram, Mahdi
    Moosavian, S. Ali A.
    [J]. JOURNAL OF COMPUTATIONAL APPLIED MECHANICS, 2015, 46 (02): : 205 - 220
  • [2] Optimal and Stable Gait Planning of a Quadruped Robot for Trotting Over Uneven Terrains
    Khorram, Mahdi
    Moosavian, S. Ali A.
    [J]. 2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2015, : 121 - 126
  • [3] Gait planning and intelligent control for a quadruped robot
    Wang B.
    Hu R.
    Zhang X.
    Huai C.
    [J]. Journal of Control Theory and Applications, 2009, 7 (2): : 207 - 211
  • [4] Gait planning and intelligent control for a quadruped robot
    Baoping WANG 1
    2.Department of Basic Courses
    3.School of Mechanical and Electronic Control Engineering
    [J]. Control Theory and Technology, 2009, 7 (02) : 207 - 211
  • [5] Reliable Gait Planning for a Quadruped Walking Robot
    Huai Chuangfeng
    Liu Pingan
    [J]. 2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5, 2010, : 1783 - 1787
  • [6] Gait Planning and Stability Control of a Quadruped Robot
    Li, Junmin
    Wang, Jinge
    Yang, Simon X.
    Zhou, Kedong
    Tang, Huijuan
    [J]. COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE, 2016, 2016
  • [7] Gait planning based on bionic quadruped robot
    Liu, Zhao
    Huang, Zhe
    Cui, Yuanhui
    [J]. ENGINEERING RESEARCH EXPRESS, 2024, 6 (03):
  • [8] Implementation and dynamic gait planning of a quadruped bionic robot
    Song Yong
    Chen Teng
    Hao Yanzhe
    Wang Xiaoli
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2017, 15 (06) : 2819 - 2828
  • [9] Quadruped Robot Crawl Gait Planning Based on DST
    Chen Binbin
    Li Shaoyuan
    Huang Dan
    [J]. 2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 8578 - 8582
  • [10] Gait Planning for a Quadruped Robot with One Faulty Actuator
    Chen Xianbao
    Gao Feng
    Qi Chenkun
    Tian Xinghua
    [J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2015, 28 (01) : 11 - 19
12345