Research on improved cycloid foot trajectory of Quadruped Robot

被引：3

作者：

Lu Ying ^{[1
]}

Zhao Xi-qing ^{[2
]}

Zhang Zhi-xiong ^{[2
]}

Shang Jian-zhong ^{[1
]}

Luo Zi-rong ^{[1
]}

机构：

[1] Natl Univ Def Technol, Coll Mechatron Engn & Automat, Changsha 410073, Hunan, Peoples R China

[2] Natl Univ Def Technol, Coll Mil High Technol Cultivat, Changsha, Hunan, Peoples R China

来源：

ADVANCES IN MECHATRONICS AND CONTROL ENGINEERING, PTS 1-3 | 2013年 / 278-280卷

关键词：

Quadruped robot; static gait; foot trajectory; RecurDyn;

D O I：

10.4028/www.scientific.net/AMM.278-280.576

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To realize moving forward of quadruped robot by static walking, a cycloid was chose to be foot trajectory to generate a static gait with the inverse kinematics theory. Then the gait was simulated and testified with the dynamics simulation software named RecurDyn. According to the simulation results, the shortage of cycloid foot trajectory was pointed, that the unequal velocity of support feet was the key cause of body lateral shift in the process of simulation. So the cycloid foot trajectory was isokinetic improved and the foot velocity was made sure to be continuous. It was turned out to be that lateral shift phenomenon was eliminated with the improved static gait.

引用

页码：576 / +

页数：2

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