文献类型：会议论文

英文题名：Structural Design and Gait Simulation of Bionic Quadruped Robot

作者：Liu, Dexin[1];Sun, Mingming[2];Qian, Dianwei[3]

第一作者：刘德馨

通讯作者：Sun, MM[1]

机构：[1]Beijing Union Univ, Coll Robot, Beijing, Peoples R China;[2]Univ Sci & Technol Beijing, Basic Expt Ctr Nat Sci, Beijing, Peoples R China;[3]North China Elect Power Univ, Sch Control & Comp Engn, Beijing, Peoples R China

第一机构：北京联合大学机器人学院

通讯机构：[1]corresponding author), Univ Sci & Technol Beijing, Basic Expt Ctr Nat Sci, Beijing, Peoples R China.

会议论文集：International Conference on Advanced Mechatronic Systems (ICAMechS)

会议日期：AUG 30-SEP 02, 2018

会议地点：Zhengzhou, PEOPLES R CHINA

语种：英文

外文关键词：bionic quadruped robot; toe trajectory; gait planning; hydraulic cylinders

摘要：In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The kinematic equation of legs is established through motion analysisJoint angle functions are solved by inverse kinematics employing legs phases in typical gait planning and the displacement for rods of hydraulic cylinders by mechanism. The toe trajectory is calculated to ensures the smoothness of the robot moving. Experimental results show that the robot walks stably on the even surface, the undulation of body has small amplitude, and the design of prototype is rational and efficient.