Abstract
This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements and smooth motions. Furthermore, the kinematic and inverse kinematic solutions based on the DH method are explored to lay the foundation for the gait algorithm. Afterward, a classical compound pendulum equation is applied as the foot-end trajectory and inverse kinematic solutions are combined to complete the gait planning. With appropriate foot–ground contact modeling, MATLAB and ADAMS are used to simulate the dynamic behavior and the diagonal trot gait of the quadruped robot. Finally, the physical prototype is constructed, designed and debugged, and its performance is measured through real-world experiments. Results show that the quadruped robot is able to balance itself during trot motion, for both its pitch and roll attitude. The goal of this work is to provide an affordable yet comprehensive platform for novice researchers in the field to study the dynamics, contact modeling, gait planning and attitude control of quadruped robots.
Highlights
Mobile robots can be classified as wheeled, footed or tracked robots
While there is a variety of topology forms for quadruped robot design, the 8, 12 or 16 degrees of freedom (DOF) designs are commonly used
Tmax = ηFN a3 sin(α) where FN is the normal contact force, a3 is the length between the knee-joint axis and the ground contact point, α is the angle between the lower leg and the vertical direction and η is the dynamic load coefficient
Summary
Mobile robots can be classified as wheeled, footed or tracked robots. Wheeled robots have a structure that makes them efficient and easy to maneuver when moving over gently-sloping ground [1]. The SLIP model has been further developed to bring out the concept of virtual legs: it simplifies and combines legs with identical motion characteristics in a gait cycle into a single virtual leg, and the virtual leg is controlled separately with a spring-loaded inverted pendulum model [27]. This reduces the complex control of a multi-legged robot to a single-legged control with good dynamic stability [28].
Sign-in/Register to view highlights & summary 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.
