Dynamic modelling & simulation of a four legged jumping robot with compliant legs

被引：21

作者：

Kumar, Ganesh K. ^{[1
]}

Pathak, Pushparaj Mani ^{[1
]}

机构：

[1] Indian Inst Technol, Mech & Ind Engn Dept, Robot & Control Lab, Roorkee 247667, Uttar Pradesh, India

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 03期

关键词：

Passive dynamics; Legged locomotion; Sagittal plane; Control; GAIT;

D O I：

10.1016/j.robot.2012.09.025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Legged locomotion is used by most animals and human beings on Earth. Legged locomotion is preferred over the wheeled locomotion as it can be used for both flat and rough terrains. In this paper, an attempt has been made for the dynamic modelling and simulation of four legged jumping robots with compliant legs. Sagittal plane and bounding gait has been considered for the simulation. For energy saving, passive dynamics has been used with the help of compliant legs (linear spring). Different state variables have been obtained for analysis. Control strategies have been implemented on dynamic modelling for forward velocity control. (c) 2012 Elsevier B.V. All rights reserved.

引用

页码：221 / 228

页数：8

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