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
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