Abstract
Design of redudant joints has been widely used in quadruped robots, so new kinds of techniques for sloving inverse kinematics are needed. In this paper we propose a new control method called Time-Pose control method and choose the enhanced extended jacobian matrix method for inverse kinematics. We deduce extended jacobian matrix method again so that it can be applicable for arbitrary joint length. It is argued that because the method can generate close joint angle path. With Time-Pose control method, such kind of inverse kinematics method has been used for trot gait on the flat ground. Simulations and experiments are performed, which prove the extended jacobian matrix method to be realizable for the quadruped robot.
Highlights
Wheeled vehicles are very efficient, they are limited in rough terrain
The benefit has greatly promoted the development of legged robot, such as quadruped and biped robots
The main objective is controlling forward speed of the quadruped robot, the outputs are the location of the supporting legs and the trajectory of mass center for the gait cycle, while the main objectives of the pose control is solving the inverse kinematics, the main outputs are joint angle or torque
Summary
Wheeled vehicles are very efficient, they are limited in rough terrain. Human and animals, in contrast, are capable of accessing almost anywhere. In this paper we concentrate our efforts on inverse kinematics of the quadruped control system. The development of redundant freedoms requires the use of new techniques for solving the inverse kinematics problem. Significant examples of such techniques are: Gradient Projection method[10] (GP), Weighted Least‐. We have presented a new control method, as shown, which enables quadruped robot to trot at the speed of 3km/h, carry up to 50 kg payload on the flat ground. A general inverse kinematics method for different joint lengths will be deduced again . Diagonal legs are in harmony with each other, as shown in the timing diagram of Figure. 3
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