TY - GEN
T1 - Dynamic gait analysis of a multi-functional robot with bionic springy legs
AU - He, Yanlin
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Pan, Shaowu
AU - Guo, Ping
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/1
Y1 - 2016/9/1
N2 - Developing efficient movement gaits for quadruped robots has intrigued investigators for years. Trot gait, pace gait, as fast and stable dynamic locomotion gaits, have been widely used in robot control. Therefore, the purpose of this paper is to control an amphibious spherical quadruped robot to achieve these two gaits. Firstly, this paper references the trot gait and pace gait pattern of quadruped creature and identifies the order and the law of quadruped bionic robot. Secondly, based on the virtual leg techniques and the Spring-Loaded Inverted Pendulum (SLIP) model, a simplified dynamic analysis model is established, and the relationship between force and motion is obtained by using Lagrange dynamics equation. Thirdly, by adjusting the force and moment of the joint of robot, continuous and stable trot gait and pace gait motion are simulated in ADAMS platform. Finally, a comparison of theoretical calculations and simulation results demonstrated the robot's potential and its feasibility of trot gait and pace gait.
AB - Developing efficient movement gaits for quadruped robots has intrigued investigators for years. Trot gait, pace gait, as fast and stable dynamic locomotion gaits, have been widely used in robot control. Therefore, the purpose of this paper is to control an amphibious spherical quadruped robot to achieve these two gaits. Firstly, this paper references the trot gait and pace gait pattern of quadruped creature and identifies the order and the law of quadruped bionic robot. Secondly, based on the virtual leg techniques and the Spring-Loaded Inverted Pendulum (SLIP) model, a simplified dynamic analysis model is established, and the relationship between force and motion is obtained by using Lagrange dynamics equation. Thirdly, by adjusting the force and moment of the joint of robot, continuous and stable trot gait and pace gait motion are simulated in ADAMS platform. Finally, a comparison of theoretical calculations and simulation results demonstrated the robot's potential and its feasibility of trot gait and pace gait.
KW - Amphibious Spherical Quadruped Robot
KW - Dynamic Gait
KW - Gait Control
KW - SLIP Model
UR - http://www.scopus.com/inward/record.url?scp=84991224580&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2016.7558646
DO - 10.1109/ICMA.2016.7558646
M3 - Conference contribution
AN - SCOPUS:84991224580
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 689
EP - 694
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -