TY - CHAP
T1 - Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot
AU - He, Zewen
AU - Meng, Fei
AU - Liu, Huaxin
AU - Wang, Lei
AU - Zhu, Xin
AU - Fan, Xuxiao
AU - Sato, Ryuki
AU - Ming, Aiguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2019, CISM International Centre for Mechanical Sciences.
PY - 2019
Y1 - 2019
N2 - In the field of robotics, small cat-like robots, due to its small size, good flexibility, low energy consumption, has become a research trend. Elastic four-bar linkage mechanism (EFLM) with programmable trajectory, good stability, and certain buffer performance, is an excellent choice for driver design of small quadruped robot. We designed a novel miniature cat-like robot, Og-cat, which is optimized in structural features and special parameters compared with other similar quadruped robots. Moreover, we developed a method that can make leg trajectory implement accurately for robots using EFLM. A trajectory realization function is obtained through MATLAB fitting so that the trajectory can be executed precisely. The proposed method has been confirmed on our small quadruped robot Og-cat.
AB - In the field of robotics, small cat-like robots, due to its small size, good flexibility, low energy consumption, has become a research trend. Elastic four-bar linkage mechanism (EFLM) with programmable trajectory, good stability, and certain buffer performance, is an excellent choice for driver design of small quadruped robot. We designed a novel miniature cat-like robot, Og-cat, which is optimized in structural features and special parameters compared with other similar quadruped robots. Moreover, we developed a method that can make leg trajectory implement accurately for robots using EFLM. A trajectory realization function is obtained through MATLAB fitting so that the trajectory can be executed precisely. The proposed method has been confirmed on our small quadruped robot Og-cat.
KW - Inverse kinematics
KW - Mechanical optimization
KW - Quadruped robot
UR - http://www.scopus.com/inward/record.url?scp=85051492716&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-78963-7_41
DO - 10.1007/978-3-319-78963-7_41
M3 - Chapter
AN - SCOPUS:85051492716
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 323
EP - 330
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -