Author:
Biswal Priyaranjan,Mohanty Prases Kumar
Abstract
Purpose
Legged walking robots have numerous advantages over the wheel or tracked robots due to their strong operational ability and exposure to the complex environment. This paper aims to present details about the mechanical formation and a new conceptual elliptical trajectory generation discussed throughout the paper of the quadruped robot.
Design/methodology/approach
Initially, a realistic CAD model of the four-legged robot is developed in Solidwork-2019. The proposed model’s forward and inverse kinematics equations are deduced using Denavit–Hartenberg parameters. Based on geometry and kinematics, manipulability and obstacle avoidance are investigated. A method of galloping trajectory is proposed for aiming the increase of upright direction impulse, which is produced by ground reaction force at each step frequency. Furthermore, the locomotion equation of the ellipse trajectory is derived by setting transition angle polynomial of free-fall phase, stance phase and swing phase and the constraints.
Findings
Finally, a successive simulation on a 2D sagittal plane is performed to check and verify the usefulness of the proposed trajectory. Before the development of the full quadruped, a single prototype leg is generated for experimental verification of the dynamic simulations.
Originality/value
The proposed trajectory is novel in that it uses force tracking control, which is intended to improve the quadruped robot’s robustness and stability.
Subject
Electrical and Electronic Engineering,Mechanical Engineering,Mechanics of Materials,Geotechnical Engineering and Engineering Geology,Civil and Structural Engineering
Reference39 articles.
1. Model-free-based single-dimension fuzzy SMC design for underactuated quadrotor UAV;Actuators,2021
2. Output feedback adaptive fractional-order super-twisting sliding mode control of robotic manipulator;Iranian Journal of Science and Technology, Transactions of Electrical Engineering,2021
3. Adaptive high-order terminal sliding mode control based on time delay estimation for the robotic manipulators with backlash hysteresis;IEEE Transactions on Systems, Man, and Cybernetics: Systems,2019
4. Adaptive fractional high‐order terminal sliding mode control for nonlinear robotic manipulator under alternating loads;Asian Journal of Control,2021
5. Dynamic locomotion through online nonlinear motion optimization for quadrupedal robots;IEEE Robotics and Automation Letters,2018
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献