Abstract
In order to improve the performance of the quadruped robot, the impact of high-speed gait is an important target to measure the performance of the robot. This paper elaborates the research methods of high-speed gait movement of quadrupeds, and a multi-rigid-body dynamics modelling method is presented. According to the analysis of high-speed bounding gait, the dynamic modelling of quadruped motion system is calculated. The motion planning for a rigid-torso quadruped robot based on Poincare Map is presented, and the high-speed bounding gait motion control strategy is established. The simulation experiments have been carried out, and the results have demonstrated the effectiveness of the motion planning model and high-speed bounding method.
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.
