STRUCTURAL DESIGH AND MOTION ANALYSIS OF UNIVERSAL MOBILE QUADRUPED ROBOT

Publications

Share / Export Citation / Email / Print / Text size:

International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering , Engineering, Electrical & Electronic

GET ALERTS

eISSN: 1178-5608

DESCRIPTION

7
Reader(s)
16
Visit(s)
0
Comment(s)
0
Share(s)

VOLUME 9 , ISSUE 3 (September 2016) > List of articles

STRUCTURAL DESIGH AND MOTION ANALYSIS OF UNIVERSAL MOBILE QUADRUPED ROBOT

Wang Xiong *

Keywords : Universal motion, quadruped robot, kinematics, inverse kinematics, gait planning.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 9, Issue 3, Pages 1,305-1,322, DOI: https://doi.org/10.21307/ijssis-2017-919

License : (CC BY-NC-ND 4.0)

Received Date : 30-March-2016 / Accepted: 14-July-2016 / Published Online: 01-September-2016

ARTICLE

ABSTRACT

According to bionics and simplified octopus structure, this paper designed a universal mobile
quadruped robot and adopted Denavit-Hartenberg system to analyze the single leg kinematics of a
robot, obtaining its kinematics equation. Also, through the method of separating variables, this paper
solved its inverse kinematics and got the joint angle. A walking gait is planned and the joint angle of
vertical pendulum stance phase and swing phase of the robot in walking are calculated. MATLAB is
used to simulate the relevant joint angles of the robot, so as to analyze its movement change.
Experimental results further verified the universal motion of robots.

Content not available PDF Share

FIGURES & TABLES

REFERENCES

[1] U.Saranli, M.Buehler, D.E.Koditschek, “A Simple and Highly Mobile Hexapod Robot”,
Robotics Research, Vol. 20,No. 7, 2001, pp. 616-631.
[2] Keisuke Kato, Shigeo Hirose, “Development of Quardruped Walking Robot, TITAN-IXMechanical
Design Concept and Application for the Humanitarian Demining Robot”, Advanced
Robotics, Vol. 15, No. 2, 2001, pp. 191-204.
[3] Giannoccaro, Nicola Ivan, “ KINEMATIC TRAJECTORIES RECONSTRUCTION BASED
ON MOTORS ENCODERS FEEDBACK FOR A ROVER SKID-STEERING ROBOT”,
International Journal on Smart Sensing & Intelligent Systems, Vol. 8, No. 4, pp. 2116-2135, Dec
2015.
[4] Lianghong Ding, "Key technology analysis of BigDog quadruped robot", Chinese Journal of
Mechanical Engineering, Vol. 51, No. 4, pp. 1-2, Apr 2015.
[5] Liang Yang, Song Xijia, Chunjian Deng, "OPPOSITION-BASED LEARNING PARTICLE
SWARM OPTIMIZATION OF RUNNING GAIT FOR HUMANOID ROBOT", International
Journal on Smart Sensing & Intelligent Systems, Vol. 8, No. 2, pp. 1162-1179, June 2015.
[6] Li Erchao, Li Zhanming , He Junxue, " ROBOTIC ADAPTIVE IMPEDANCE CONTROL
BASED ON VISUAL GUIDANCE", International Journal on Smart Sensing & Intelligent
Systems, Vol. 8, No. 4, pp. 2159-2174, Dec 2015.
[7] Hurmuzlu Y, Genot F, Brogliato B, “Modeling, stability and control of biped robots – A
general framework”, Automatica, Vol. 40,No. 10, 2004, pp. 1647-1664.
[8] Hanazawa Y, Yamakita M., “Limit cycle running based on flat-footed passive dynamic
walking with mechanical impedance at ankles”, Advanced Intelligent Mechatronics (AIM), 2012
IEEE/ASME International Conference on. IEEE, 2012: 15-20.
[9] Fu G P. “Research on Gait Planning and Walking Control for Humanoid Robot”, Guangdong
University of technology, 2013.
[10] YE Changlong,MA Shugen,LI Bin, “Development of a shape-shifting mobile robot for
urban search and rescue”, Chinese Journal of Mechanical Engineering, Vol. 21,No. 2, 2008, pp.
31-35.
[11] LI Zhiqing, MA Shugen,etal, “Development of a Transformable Wheel-track Robot with
Self-adaptive Ability”, China Mechanical Engineering, Vol. 47, No. 5, 2011, pp. 1-10.
[12] Li Junmin, Wang Jinge, Yang Simon X, Zhou Kedong, Tang Huijuan, “Gait Planning and
Stability Control of a Quadruped Robot”, Computational intelligence and neuroscience, Vol.
2016,, 2016, pp. 9853070.
[13] Baoping Wang, Renxi Hu, Xiaodong Zhang, Chuangfeng Huai, “Gait planning and
intelligent control for a quadruped robot”, Journal of Control Theory and Applications, Vol. 7,
No. 2, 2009, pp. 207-211.
[14] Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, “Gait planning for a quadruped
robot with one faulty actuator”, Chinese Journal of Mechanical Engineering, Vol. 28, No. 1, 2015,
pp. 11-16.
[15] Brisswalter J, Fougeron B, Legros P, “Variability in energy cost and walking gait during
race walking in competitive race walkers”, Medicine and science in sports and exercise, Vol. 30,
No. 9, 1998, pp. 1451-5.
[16] Ke Yang, Xu-yang Wang, Tong Ge, Chao Wu, “Simulation platform for the underwater
snake-like robot swimming based on Kane’s dynamic model and central pattern generator”,
Journal of Shanghai Jiaotong University (Science), Vol. 19, No. 3, 2014, pp. 294-301.
[17] Syed Atif Mehdi, Karsten Berns, Chao Wu, “Behavior-based search of human by an
autonomous indoor mobile robot in simulation”, Universal Access in the Information Society,
Vol. 13, No. 1, 2014, pp. 45-58.
[18] Reynolds Raymond F, Bronstein Adolfo M, “Self-initiated gait increases susceptibility to
the moving platform after-effect”, NeuroReport, Vol. 17, No. 14, 2006, pp. 1503-5.
[19] Burke Conor S, McGaughey Orla, Sabattié Jean-Marc, Barry Henry, McEvoy Aisling K,
McDonagh Colette, MacCraith Brian D, “Development of an integrated optic oxygen sensor
using a novel, generic platform”, The Analyst, Vol. 130, No. 1, 2004, pp. 41-5.
[20] Burke Conor S, McGaughey Orla, Sabattié Jean-Marc, Barry Henry, McEvoy Aisling K,
McDonagh Colette, MacCraith Brian D, “Miniature robotic guidance for spine surgery--
introduction of a novel system and analysis of challenges encountered during the clinical
development phase at two spine centres”, International Journal of Medical Robotics and
Computer Assisted Surgery, Vol. 2, No. 2, 2007, pp. 146-53.
[21] Yamashita Yuichi, Tani Jun, “Emergence of functional hierarchy in a multiple timescale
neural network model: a humanoid robot experiment”, PL o S Computational Biology (Online),
Vol. 4, No. 11, 2008, pp. e1000220.
[22] Tani Jun, Ito Masato, Sugita Yuuya, “Self-organization of distributedly represented
multiple behavior schemata in a mirror system: reviews of robot experiments using RNNPB”,
Neural Networks, Vol. 17, No. 8-9, 2004, pp. 1273-89.
[23] Ampatzis Christos, Tuci Elio, Trianni Vito, Christensen Anders Lyhne, Dorigo Marco,
Tani Jun, “Evolving self-assembly in autonomous homogeneous robots: experiments with two
physical robots”, Artificial Life, Vol. 15, No. 4, 2009, pp. 465-84.

EXTRA FILES

COMMENTS