标题:Implementation and dynamic gait planning of a quadruped bionic robot
作者:Song Yong; Chen Teng; Hao Yanzhe; Wang Xiaoli
作者机构:[Song Yong; Chen Teng; Hao Yanzhe; Wang Xiaoli] Shandong Univ Weihai, Sch Mech Elect & Informat Engn, 180 Wenhua Xilu, Weihai, Peoples R China.; [Ch 更多
通讯作者:Xiaoli, Wang
通讯作者地址:[Wang, XL]Shandong Univ Weihai, Sch Mech Elect & Informat Engn, 180 Wenhua Xilu, Weihai, Peoples R China.
来源:INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
出版年:2017
卷:15
期:6
页码:2819-2828
DOI:10.1007/s12555-016-0540-6
关键词:Gait planning; inverse kinematics; kinematics; quaruped robot
摘要:This paper investigates dynamic gait planning optimization and balance control of quadruped robots under external disturbance forces. First, a platform of quadruped walking robot with fourteen active degrees of freedom is designed. Then, a forward kinematic model of joints is built for quadruped robots based on Denavit-Hartenberg(D-H) method. The inverse kinematic equations are solved to result in joint values when the desired position and orientation are specified. A dynamic gait planning algorithm is proposed and tested on the quadruped robot. The planning function is established to create some point-to-point trajectories. The angle values of the joints can be calculated by using the inverse kinematics equations for every moment. Considering the external distribution a balance control approach is proposed to stabilize the robot based on the information from the attitude sensors. The walking is stabilized by a feedback control that uses a three-axis acceleration sensor. Experiments have been performed on the quadruped robot. The results showed that the proposed methods work well in dynamic gait planning and external disturbances of a quadruped bionic robot.
收录类别:EI;SCOPUS;SCIE
资源类型:期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-85042417320&doi=10.1007%2fs12555-016-0540-6&partnerID=40&md5=55ef63ff4d6caba535b2f4910b5bed35
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