Abstract
It is a common phenomenon in the movement of the quadruped mammals accompanied with head swings. Inspired by this, this article attempts to add head motion to the bounding gait of a quadruped robot. According to the theoretical analysis, there are two main functions of the head. First, the head can realize the active control of the center of mass position of the robot, which is of great significance to the stable motion of the robot. Second, the swing of the head plays a role in regulating the pitch angle of the torso and improves the coordination and stability of the motion. A simplified quadruped robot model with a head and spine joint is established and analyzed theoretically. The regularity of head movement in periodic bounding gait is summarized. Through simulation and experiment, we confirm the two roles of the head in the bounding gait of a quadruped robot.
Highlights
The quadruped robot has always been a hotspot in the fields of robotics
A simulation with an active head and a fixed head is provided, and the simulation results are shown in Figures 6 and 7, respectively
We studied the periodic bounding gait of a quadruped robot with the head and spine, and summarized the coordination relationship between head movement and spine movement
Summary
The quadruped robot has always been a hotspot in the fields of robotics. A quadruped robot with a spine motion is an important aspect of the research. A large number of studies have shown that the spine motion can improve the speed and energy efficiency[1] of quadruped robots. In the actual situation, spinal joints increase the degree of freedom of the system and make the system unstable, at the same time. In order to solve the contradiction between the flexibility and stability of the quadruped robots, many experts and scholars have performed a lot of research. Many studies have shown that spinal motion plays a vital role in the high-speed movement of mammals.[2,3] So many engineers have studied the possibility of spinal joints used for quadruped robots. The BDI cheetah, designed by Boston Dynamics (BDI), had an articulated back that flexed back and forth on each step
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