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Dynamics of a Quadruped Robot during Locomotion
Xiaoqi, Li1,2; Wei, Wang1,2; Jianqiang, Yi1,2
2014
会议名称IEEE International Conference on Robotics and Biomimetics
会议日期December 5-10, 2014
会议地点Bali, Indonesia
摘要
In this paper we analyze characteristics of the ground reaction force (GRF) experienced by the legs of the quadruped robot during stance phase in walk gait, in particular, when the height of center of gravity (COG) of the quadruped robot is changeable. We also build the dynamics model of the quadruped robot. Two dynamics equations during swing phase 
and stance phase are established, respectively. Additionally, we design a controller to adjust the height of COG of the quadruped robot. The controller uses the central pattern 
generator (CPG) model to generate basic rhythmic motion, and utilizes the discrete tracking differentiator (TD) to implement the transition between two different rhythmic medium values of the CPG. The combination of the CPG model and the discrete TD enables the quadruped robot to adjust the height of COG according to the environment. The ground reaction peak force and the joint torque of the quadruped robot increase with the reduction of the height of COG. Finally, we give a simulation example and the results, including an analysis of the vertical reaction force and the joint torque of the quadruped robot. 
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/14463
专题综合信息系统研究中心
作者单位1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Xiaoqi, Li,Wei, Wang,Jianqiang, Yi. Dynamics of a Quadruped Robot during Locomotion[C],2014.
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