Abstract
Recently, new configurations of robot legs using a parallel mechanism have been studied for improving the locomotion ability in four-legged robots. However, it is difficult to obtain full dynamics of the parallel-mechanism robot legs because this mechanism has many links and complex constraint conditions, which make it difficult to design a modelbased controller. Here, we propose the simplified modeling of a parallel-mechanism robot leg with two degrees-of-freedom (2DOF), which can be used instead of complex full dynamics for model-based control. The new modeling approach considers the robot leg as a 2DOF Revolute and Prismatic(RP) manipulator, inspired by the actuation mechanism of robot legs, for easily designing a nominal model of the controller. To verify the effectiveness of the new modeling approach experimentally, we conducted dynamic simulations using a commercial multi-dynamics simulator. The simulation results confirmed that the proposed modeling approach could be an alternative modeling method for parallel-mechanism robot legs.
Published Version
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