Design, analysis and method of foot trajectory generation for quadruped robots in swing-stance phase

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.

Publisher

Emerald

Subject

Electrical and Electronic Engineering,Mechanical Engineering,Mechanics of Materials,Geotechnical Engineering and Engineering Geology,Civil and Structural Engineering

Reference39 articles.

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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

1. A Review of Quadruped Robots: Structure, Control, and Autonomous Motion;Advanced Intelligent Systems;2024-03-08

2. A study on quadruped mobile robots;Mechanism and Machine Theory;2023-12

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