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

^*此作品的通讯作者

机电学院

Beijing Institute of Technology
The University of Electro-Communications

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

4 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	CISM International Centre for Mechanical Sciences, Courses and Lectures
出版商	Springer International Publishing
页	323-330
页数	8
DOI	https://doi.org/10.1007/978-3-319-78963-7_41
出版状态	已出版 - 2019

出版系列

姓名	CISM International Centre for Mechanical Sciences, Courses and Lectures
卷	584
ISSN（印刷版）	0254-1971
ISSN（电子版）	2309-3706

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

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

其它文件与链接

链接到 Scopus 的出版物

引用此

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. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures (页码 323-330). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 卷 584). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_41

@inbook{1437db3f603a4bf386cb8187c0b707e1,

title = "Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot",

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",

note = "Publisher Copyright: {\textcopyright} 2019, CISM International Centre for Mechanical Sciences.",

year = "2019",

doi = "10.1007/978-3-319-78963-7\_41",

language = "English",

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

publisher = "Springer International Publishing",

pages = "323--330",

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

address = "Switzerland",

}

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. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, 卷 584, Springer International Publishing, 页码 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 等.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. 页码 323-330 (CISM International Centre for Mechanical Sciences, Courses and Lectures; 卷 584).

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

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 等. Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2019. 页码 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

摘要

出版系列

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此