Affiliation:
1. Shandong University
2. Shandong Jiaotong University
3. Shandong Agricultural University
Abstract
This paper presents the mechanical configuration of a quadruped robot with 4 rotary joints per leg firstly. All joints of the robot are activated by 16 identical hydraulic servo cylinders. Then it gives the forward and inverse kinematic equations of one leg with D-H transformation matrix. Furthermore, it also gives the jacobian matrix of the legs. The jacobian matrix establishes the relationships between the angle velocities of the 4 joints of the supporting leg and the moving velocity of the robot trunk. Lastly, a simple trot gait simulation is given based on MSC.ADAMS under the assumption that there are no slippages between the supporting feet and the ground.
Publisher
Trans Tech Publications, Ltd.
Reference6 articles.
1. S. M. Song and K. J. Waldron, Machines That Walk: The Adaptive Suspension Vehicle. MIT Press: Cambridge, (1989).
2. Karsten Berns and Winfried Ilg, Mechanical construction and computer architecture of the four-legged walking machine BISAM, ASME transactions on mechatronics, Vol. 4, no. 1, (1999).
3. Christian Ridderstom and Johan Ingvast, Quadruped posture control based on simple force distribution-a notion and a trial, 2001 IEEE Conferrnce on Intelligent Robots and Systems, (2001).
4. Luther R. Palmer III and David E. Orin, Quadrupedal running at high speed over uneven terrain, Proceedings of the 2007 IEEE/RSJ Conferrnce on Intelligent Robots and Systems, (2007).
5. http: /www. bostondynamics. com/img/BigDog_IFAC_Apr-8-2008. pdf.
Cited by
9 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