Abstract
Quadruped robot offers better maneuverability over wheeled mobile robot. However, a quadruped robot contains many joint actuators which have to operate in a coordinated fashion to achieve the desired locomotion. Joint actuations cause various degrees of disturbance on the robot body and may even destabilize the system. Thus, prior dynamic analysis plays an important role for development of control laws for quadruped locomotion. Here, a three dimensional dynamic model of a quadruped has been developed using the bond graph technique which can be interfaced with various controller models. This model contains a detailed sub-model for telescopic compliant legs. This chapter also discusses locomotion control of quadruped in joint space and in workspace. Results from simulations, animations, and experiments are discussed. Turning motion at various leg speeds is studied for dynamic stability of the robot. The effect of leg compliance on locomotion parameters is studied which helps in selecting a suitable compliance. Performance measure is carried out using energy efficiency as deciding criteria. Study on energy efficient quadruped structure, energy efficient locomotion gait, and foot trajectory have been carried out for designing an efficient quadruped.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
