The Effects of Leg Configurations on Trotting Quadruped Robot

被引：4
|
作者：
Li, Bin [1 ,2 ]
Li, Yibin [2 ]
Rong, Xuewen [2 ]
Meng, Jian [2 ]
Chai, Hui [2 ]
机构：
[1] Shandong Polytech Univ, Sch Sci, Jinan 250353, Shandong, Peoples R China
[2] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China
来源：
PROCEEDINGS OF 2013 CHINESE INTELLIGENT AUTOMATION CONFERENCE: INTELLIGENT AUTOMATION & INTELLIGENT TECHNOLOGY AND SYSTEMS | 2013年 / 255卷
关键词：
Quadruped robot; Leg configuration; Stability;
D O I：
10.1007/978-3-642-38460-8_41
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studied the configuration modes between the legs and the body frame of the mammalian quadruped robot. Based on the quadruped robot models with four different leg configuration approaches, the optimal leg configuration mode of the quadruped robot with trotting gait is verified by means of ADAMS and MATLAB co-simulation for improving the locomotion stability and decreasing the slip of quadruped robot, which provide a theoretical basis for the design of leg configuration on real quadruped robot Scalf.
引用
收藏
页码：365 / 374
页数：10
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