Knowledge Commons of Institute of Automation,CAS
Design and Gait Control of a Quadruped Robot with Low-Inertia Legs Publisher: IEEE Cite This PDF | |
Shang LL(尚琳琳); Wang Wei; Yi Jianqiang | |
2019-08 | |
会议名称 | 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) |
会议日期 | 22-26 August 2019 |
会议地点 | Vancouver, BC, Canada |
摘要 | This paper presents a novel quadruped robot, “Biodog II”, featuring low-inertia legs and coaxial transmission. Each leg has two degrees of freedoms (DOFs)-a knee and hip joint, which are actuated by proximal mounted DC motors, and a compliant ankle joint. Motor power can be transited to active joints efficiently and accurately by means of coaxial transmission. In particular, we employ a tendon-bone co-location structure on the leg to reduce stress and enhance strength. A Hopf oscillator-based Central Pattern Generator (CPG) is responsible for generating locomotion trajectories of different gaits. An embedded controller based on an ARM board is designed to command motors. Locomotion experiments including walk and trot gait test demonstrate the stability and mobility of Biodog II. |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/48867 |
专题 | 复杂系统认知与决策实验室_决策指挥与体系智能 模式识别实验室 |
作者单位 | 1.University of Chinese Academy of Sciences, 19 A Yuquan Road Shijingshan District, Beijing, China 2.Institute of Automation, Chinese Academy of Sciences, 95 Zhongguancun East Road, Beijing, 100190, China. |
推荐引用方式 GB/T 7714 | Shang LL,Wang Wei,Yi Jianqiang. Design and Gait Control of a Quadruped Robot with Low-Inertia Legs Publisher: IEEE Cite This PDF[C],2019. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
08843175.pdf(553KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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