The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Research on Stability of Control for Quadruped Robot with Robust Leg Structure Design

강인한 다리 구조 설계에 따른 사족 보행 로봇 제어 안정성 연구

  • Hosun Kang (Department of Electrical and Electronics Engineering, Pusan National University) ;
  • Jaehoon An (Department of Electrical and Electronics Engineering, Pusan National University) ;
  • Hyeonje Cha (Department of Electrical and Electronics Engineering, Pusan National University) ;
  • Wookjin Ahn (Department of Electrical and Electronics Engineering, Pusan National University) ;
  • Hwayoung Song (Department of Electrical and Electronics Engineering, Pusan National University) ;
  • Inho Lee (Department of Electronics Engineering, Pusan National University)
  • Received : 2023.01.27
  • Accepted : 2023.03.16
  • Published : 2023.05.31
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Abstract

This paper presents research on the stability of control for a quadruped robot with two different leg structure designs. The focus of the research is on the design and analysis of the leg structures in terms of their impact on the stability and robustness of the robot's motion. First, a static analysis was performed in the simulation to compare the structural strength of the legs when the same force was applied. Secondly, two quadruped robots were built, each equipped with differently designed legs, and performed trot gait walking in the real world. And the states of the robots and the torques of each joint were analyzed and compared. In conclusion, based on the results of structural analysis in simulation and the actual walking experiments with the robots, it was demonstrated that the legs designed to be structurally robust improved the control stability of the quadruped robot.

Keywords

Acknowledgement

This research was supported by 2021 BK21 FOUR Program of Pusan National University This work was supported by Police-Lab 2.0 Program (www.kipot.or.kr) funded by the Ministry of Science and ICT (MSIT,Korea) & Korean National Police Agency (No. 210121M05) This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. NRF-2021R1C1C1009989)

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