Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot

Zewen He; Fei Meng; Huaxin Liu; Lei Wang; Xin Zhu; Xuxiao Fan; Ryuki Sato; Aiguo Ming; Qiang Huang

doi:10.1007/978-3-319-78963-7_41

Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot

Zewen He
, Fei Meng^*
, Huaxin Liu
, Lei Wang
, Xin Zhu
, Xuxiao Fan
, Ryuki Sato
, Aiguo Ming
, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology
The University of Electro-Communications

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

4 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer International Publishing
Pages	323-330
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-319-78963-7_41
Publication status	Published - 2019

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	584
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Inverse kinematics
Mechanical optimization
Quadruped robot

Access to Document

10.1007/978-3-319-78963-7_41

Cite this

He, Z., Meng, F., Liu, H., Wang, L., Zhu, X., Fan, X., Sato, R., Ming, A., & Huang, Q. (2019). Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 323-330). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_41

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abstract = "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.",

keywords = "Inverse kinematics, Mechanical optimization, Quadruped robot",

author = "Zewen He and Fei Meng and Huaxin Liu and Lei Wang and Xin Zhu and Xuxiao Fan and Ryuki Sato and Aiguo Ming and Qiang Huang",

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language = "English",

series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

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He, Z, Meng, F, Liu, H, Wang, L, Zhu, X, Fan, X, Sato, R, Ming, A & Huang, Q 2019, Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 584, Springer International Publishing, pp. 323-330. https://doi.org/10.1007/978-3-319-78963-7_41

Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot. / He, Zewen; Meng, Fei; Liu, Huaxin et al.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. p. 323-330 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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

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 - https://www.scopus.com/pages/publications/85051492716

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 -

He Z, Meng F, Liu H, Wang L, Zhu X, Fan X et al. Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2019. p. 323-330. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-319-78963-7_41

Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot

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UN SDGs

Keywords

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