[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.33851/JMIS.2021.8.2.121

Gait Programming of Quadruped Bionic Robot

Li, Mingying (College of Mechanical Engineering and Automation, Dalian Polytechnic University)
Jia, Chengbiao (College of Mechanical Engineering and Automation, Dalian Polytechnic University)
Lee, Eung-Joo (Dept. of Information and Communication Engineering, Tongmyong University)
Feng, Yiran (College of Mechanical Engineering and Automation, Dalian Polytechnic University)

Publication Information

Journal of Multimedia Information System / v.8, no.2, 2021 , pp. 121-130 More about this Journal

Abstract

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

Keywords

Quadruped robot; Kinematics; Gait Programming; Trajectory;

Citations & Related Records

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