Stability Study and Simulation of Quadruped Robots with Variable Parameters
Walking stability is one of the key problems restricting the development of quadruped robots. Two new kinds of variable parameter quadruped robots with high stability were proposed. The two groups of variable parameter models were applied to quadruped robots with the full elbow joint or elbow joint...
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| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2022/9968042 |
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| _version_ | 1832549465873973248 |
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| author | Qian Cong Xiaojie Shi Ju Wang Yu Xiong Bo Su Wei Xu Hai Liu Kuiyue Zhou Lei Jiang Weijun Tian |
| author_facet | Qian Cong Xiaojie Shi Ju Wang Yu Xiong Bo Su Wei Xu Hai Liu Kuiyue Zhou Lei Jiang Weijun Tian |
| author_sort | Qian Cong |
| collection | DOAJ |
| description | Walking stability is one of the key problems restricting the development of quadruped robots. Two new kinds of variable parameter quadruped robots with high stability were proposed. The two groups of variable parameter models were applied to quadruped robots with the full elbow joint or elbow joint for front legs and knee joint for back legs, respectively, and the stability of their linear motion under different variable parameters was deeply studied by Recurdyn. The quadruped robots with elbow joint for front legs and knee joint for back legs displayed good antijamming ability to lateral impact. According to the rigid-flexible simulation experiment, the largest force occurred in the knee joint during the movement of the quadruped robot. This provided a theoretical basis for the design of real quadruped robots. |
| format | Article |
| id | doaj-art-b631a2741bb54f4a821ca067866ed922 |
| institution | Kabale University |
| issn | 1754-2103 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-b631a2741bb54f4a821ca067866ed9222025-02-03T06:11:19ZengWileyApplied Bionics and Biomechanics1754-21032022-01-01202210.1155/2022/9968042Stability Study and Simulation of Quadruped Robots with Variable ParametersQian Cong0Xiaojie Shi1Ju Wang2Yu Xiong3Bo Su4Wei Xu5Hai Liu6Kuiyue Zhou7Lei Jiang8Weijun Tian9Key Laboratory of Bionic EngineeringKey Laboratory of Bionic EngineeringKey Laboratory of Bionic EngineeringKey Laboratory of Bionic EngineeringChina North Vehicle Research InstituteChina North Vehicle Research InstituteKey Laboratory of Bionic EngineeringCollege of Biological and Agricultural EngineeringChina North Vehicle Research InstituteKey Laboratory of Bionic EngineeringWalking stability is one of the key problems restricting the development of quadruped robots. Two new kinds of variable parameter quadruped robots with high stability were proposed. The two groups of variable parameter models were applied to quadruped robots with the full elbow joint or elbow joint for front legs and knee joint for back legs, respectively, and the stability of their linear motion under different variable parameters was deeply studied by Recurdyn. The quadruped robots with elbow joint for front legs and knee joint for back legs displayed good antijamming ability to lateral impact. According to the rigid-flexible simulation experiment, the largest force occurred in the knee joint during the movement of the quadruped robot. This provided a theoretical basis for the design of real quadruped robots.http://dx.doi.org/10.1155/2022/9968042 |
| spellingShingle | Qian Cong Xiaojie Shi Ju Wang Yu Xiong Bo Su Wei Xu Hai Liu Kuiyue Zhou Lei Jiang Weijun Tian Stability Study and Simulation of Quadruped Robots with Variable Parameters Applied Bionics and Biomechanics |
| title | Stability Study and Simulation of Quadruped Robots with Variable Parameters |
| title_full | Stability Study and Simulation of Quadruped Robots with Variable Parameters |
| title_fullStr | Stability Study and Simulation of Quadruped Robots with Variable Parameters |
| title_full_unstemmed | Stability Study and Simulation of Quadruped Robots with Variable Parameters |
| title_short | Stability Study and Simulation of Quadruped Robots with Variable Parameters |
| title_sort | stability study and simulation of quadruped robots with variable parameters |
| url | http://dx.doi.org/10.1155/2022/9968042 |
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