Stability Margin of a Metamorphic Quadruped Robot With a Twisting Trunk-Reference-Cited by-同舟云学术

Stability Margin of a Metamorphic Quadruped Robot With a Twisting Trunk

Published:2019-09-25 Issue:6 Volume:11 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Zhang Chunsong¹²,Zhang Chi³,Dai Jian S.⁴,Qi Peng³

Affiliation:

1. Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, No. 1239, Siping Road, Shanghai 200092, China;

2. International Centre for Advanced Mechanisms and Robotics, MOE Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300345, China

3. Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, No. 1239, Siping Road, Shanghai 200092, China

4. Advanced Kinematics and Reconfigurable Robotics Lab, Centre for Robotics Research, King’s College London, Strand, London WC2R 2LS, UK

Abstract

Abstract To date, most quadruped robots are either equipped with trunks that are rigid bodies or consist of blocks connected by passive joints. The kinematic performance of these quadruped robots is only determined by their legs. To release the mobility of trunks and enhance the performance of quadruped robots, this paper proposes a metamorphic quadruped robot with a moveable trunk (a planar six-bar closed-loop linkage), called MetaRobot I, which can implement active trunk motions. The robot can twist its trunk like natural quadrupeds. Through trunk twisting, the stability margin of the quadruped robot can be increased compared with that of a quadruped robot with a rigid trunk. The inner relationship between the stability margin and the twisting angle is analyzed in this paper. Finally, simulations are carried out to show the benefits facilitated by the twisting trunk to the quadruped robot.

Funder

Chenguang Program

Natural Science Foundation of China

Open Research Fund of Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology

Shanghai Sailing Program

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4044600/5427187/jmr-19-1012.pdf

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