Novel algorithm of gait planning of hydraulic quadruped robot to avoid foot sliding and reduce impingement

被引：0

作者：

Ma L.-L. ^{[1
]}

Yang C.-F. ^{[1
]}

Wang L.-P. ^{[1
]}

Wang J.-Z. ^{[1
]}

机构：

[1] Key Laboratory of Intelligent Control and Decision of Complex System, School of Automation, Beijing Institute of Technology, Beijing

来源：

Journal of Beijing Institute of Technology (English Edition) | 2016年 / 25卷 / 01期

关键词：

Foot trajectory; Friction cone; Gait planning; Impingement; Landing angle; Sliding;

D O I：

10.15918/j.jbit1004-0579.201625.0114

中图分类号：

学科分类号：

摘要：

In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot, which include leg dragging, sliding, impingement against the ground, an improved gait planning algorithm for this robot is proposed in this paper. First, the foot trajectory is designated as the improved composite cycloid foot trajectory. Second, the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the robot. Then with the controllable landing angle of quadruped robot and a geometry method, the kinematic equation is derived in this paper. Finally, a gait planning method of quadruped robot is proposed, a dynamic co-simulation is done with ADAMS and MATLAB, and practical experiments are conducted. The validity of the proposed algorithm is confirmed through the co-simulation and experimentation. The results show that the robot can avoid sliding, reduce impingement, and trot stably in trot gait. © 2016 Beijing Institute of Technology.

引用

页码：91 / 99

页数：8

共 14 条

[1]

Raibert M., Blankespoor K., Nelson G., BigDog, the rough-terrain quadruped robot, 17th IFAC World Congress, pp. 10822-10825, (2008)

[2]

Hirose S., Kato K., Study on quadruped walking robot in Tokyo Institute of Technology-past, present and future, ICRA 2000, pp. 414-419, (2000)

[3]

Wang L., Wang J., Wang S., Et al., Strategy of foot trajectory generation for hydraulic quadruped robots gait planning, Journal of Mechanical Engineering, 49, 1, pp. 39-44, (2013)

[4]

Rong X., Li Y., Ruan J., Et al., Design and simulation for a hydraulic actuated quadruped robot, Journal of Mechanical Science and Technology, 26, 4, pp. 1171-1177, (2012)

[5]

Kim H.K., Won D., Kwon O., Et al., Foot trajectory generation of hydraulic quadruped robots on uneven terrain, 17th IFAC World Congress, pp. 3021-3026, (2008)

[6]

Semini C., HyQ-design and development of a hydraulically actuated quadruped robot, (2010)

[7]

Rong X., Mechanism design and kinematics analysis of a hydraulically actuated quadruped robot SCalf, (2013)

[8]

Yoshihiro S., Kazutoshi K., Yuuji H., Et al., Foot trajectory for a quadruped walking machine, IEEE International Workshop on Intelligent Robots and Systems: IROS, pp. 315-322, (1990)

[9]

Liu H., Song W., Peng Z., Foot movement control of walking machines modified by means of composite cycloid method, Robot, 16, 6, pp. 350-356, (1994)

[10]

Kim T.-J., So B., Kwon O., Et al., The energy minimization algorithm using foot rotation for hydraulic actuated quadruped walking robot with redundancy, Joint 41st International Symposium on Robotics and 6th German Conference on Robotics, 2, pp. 786-791, (2010)

← 1 2 →