Realization of Complex Terrain and Disturbance Adaptation for Hydraulic Quadruped Robot under Flying trot Gait

2019 ◽  
Author(s):  
Teng Chen ◽  
Yibin Li ◽  
Xuewen Rong ◽  
Lelai Zhou
Keyword(s):  
Complex Terrain ◽  
Quadruped Robot ◽  
Trot Gait ◽  
Disturbance Adaptation

scholarly journals Time optimal positioning control of a quadruped robot for trot gait

2017 ◽  
Vol 83 (849) ◽  
pp. 17-00017-17-00017 ◽  
Author(s):  
Yuhei SUZUKI ◽  
Hisashi OSUMI
Keyword(s):  
Quadruped Robot ◽  
Positioning Control ◽  
Trot Gait ◽  
Time Optimal

Bionic Methods for Quadruped Robot Design and Control

2013 ◽  
Vol 461 ◽  
pp. 869-876
Author(s):  
Run Bin Cai ◽  
Qing Wei ◽  
Hong Xu Ma
Keyword(s):  
Robot Control ◽  
Control Method ◽  
Step Length ◽  
Quadruped Robot ◽  
Control Architecture ◽  
German Shepherd ◽  
Trot Gait ◽  
Nerve System ◽  
And Control ◽  
Support Phase

Bionics has greatly improved the development of quadruped robot, in the paper we propose three bionic methods for the quadruped robot. These methods have been used for control method design, gait design and control architecture design. The quadruped robot control method has been divided into two parts, because the four-legged animals change their trot speed by adjustment of step length in swing phase and maintain their balance in support phase; control architecture is derived from the four-legged animals nerve system; gait of quadruped robot is based on event driven, and its trot gait is the same as German shepherd. Simulations and experiments are performed, which prove bionics design to be realizable for the quadruped robot.

The Mathematical Modeling and Dynamic Trot Gait Simulation on the Single Leg Hydraulic Drive System of the Quadruped Robot

2017 ◽  
Vol 865 ◽  
pp. 417-422
Author(s):  
Xiang Dong Kong ◽  
Kai Xian Ba ◽  
Bin Yu ◽  
Chun He Li ◽  
Qi Xin Zhu ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Position Control ◽  
Control Method ◽  
Simulation Analysis ◽  
Hydraulic Drive ◽  
Quadruped Robot ◽  
Drive System ◽  
Nonlinear Mathematical Model ◽  
Trot Gait ◽  
The Relationship

In this paper, the single leg hydraulic drive system of the quadruped robot is taken as the research object. Then the nonlinear mathematical model of the hydraulic system is built. According to the real mechanical structure parameters of the single leg, the relationship between position control characteristics of the system and variation of single leg trajectory is investigated. Besides, the tracing accuracy of single leg foot displacement in one trot gait condition is analyzed through combination of kinematics solution and simulation analysis. In conclusion, the research indicates that the nonlinear mathematical model can be used to analyze the position control performance of the single leg hydraulic drive system. This research provides a basic foundation for further research of control method.

Trot Gait Design and CPG Method for a Quadruped Robot

2014 ◽  
Vol 11 (1) ◽  
pp. 18-25 ◽  
Author(s):  
Jiaqi Zhang ◽  
Feng Gao ◽  
Xiaolei Han ◽  
Xianbao Chen ◽  
Xueying Han
Keyword(s):  
Quadruped Robot ◽  
Trot Gait

Kinematics Analysis and Simulation of a Quadruped Robot

2010 ◽  
Vol 26-28 ◽  
pp. 517-522 ◽  
Author(s):  
Xue Wen Rong ◽  
Yi Bin Li ◽  
Jiu Hong Ruan ◽  
Hong Jun Song
Keyword(s):  
Jacobian Matrix ◽  
Inverse Kinematic ◽  
Quadruped Robot ◽  
Transformation Matrix ◽  
Kinematics Analysis ◽  
Gait Simulation ◽  
Trot Gait ◽  
Hydraulic Servo

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.

Development of Horse-Type Quadruped Robot (Report2, Experiments of Trot Gait by Quadruped Robot PONY)

2004 ◽  
Vol 16 (1) ◽  
pp. 104-112 ◽  
Author(s):  
Shinobu Makita ◽  
◽  
Daisuke Nishimura ◽  
Junji Furusho
Keyword(s):  
Quadruped Robot ◽  
Flexor Muscle ◽  
Simulation Experiments ◽  
Trot Gait ◽  
Spring System

In this paper, we studied the equine gait, focusing on trotting, to realize a horse-type trot using a quadruped robot. Mammals use energy stored in the tendons during supporting phase. The change of angle in the equine fetlock stretches the tendons, storing energy. Fetlock movement is passively controlled by tendons, not actively controlled by muscles. We developed an equine quadruped robot, which uses actuators consisting of a serially connected motor and spring corresponding to equine muscles and tendons, e.g., the superficial digital flexor muscle. In this paper, we discuss simulation experiments showing the effectiveness of the motor-spring system, then PONY’s horse-like trot.

Transition and Trot gait of Horse-type Quadruped Robot

2002 ◽  
Vol 6.1 (0) ◽  
pp. 385-390
Author(s):  
Sinobu Makita ◽  
Masashi Hisano ◽  
Takashi Kodera ◽  
Yuhei Yamaguti ◽  
Junji Furusho
Keyword(s):  
Quadruped Robot ◽  
Trot Gait
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