Abstract
This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements and smooth motions. Furthermore, the kinematic and inverse kinematic solutions based on the DH method are explored to lay the foundation for the gait algorithm. Afterward, a classical compound pendulum equation is applied as the foot-end trajectory and inverse kinematic solutions are combined to complete the gait planning. With appropriate foot–ground contact modeling, MATLAB and ADAMS are used to simulate the dynamic behavior and the diagonal trot gait of the quadruped robot. Finally, the physical prototype is constructed, designed and debugged, and its performance is measured through real-world experiments. Results show that the quadruped robot is able to balance itself during trot motion, for both its pitch and roll attitude. The goal of this work is to provide an affordable yet comprehensive platform for novice researchers in the field to study the dynamics, contact modeling, gait planning and attitude control of quadruped robots.
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
Cited by
8 articles.
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1. A study on quadruped mobile robots;Mechanism and Machine Theory;2023-12
2. Analysis, Prototyping and Locomotion Control of a Quadruped Robot;2023 Latin American Robotics Symposium (LARS), 2023 Brazilian Symposium on Robotics (SBR), and 2023 Workshop on Robotics in Education (WRE);2023-10-09
3. Reward Function and Configuration Parameters in Machine Learning of a Four-Legged Walking Robot;Applied Sciences;2023-09-14
4. Optimal Trajectory Planning Control for Quadruped Robot;Journal of Physics: Conference Series;2023-09-01
5. Stability study of quadruped robot based on foot trajectory improvement;2023 6th International Conference on Electronics Technology (ICET);2023-05-12