文献类型：期刊文献

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

机构：[1] College of Robotics, Beijing Union University, Beijing, China; [2] Basic Experimental Center for Natural Science, University of Science and Technology Beijing, Beijing, China; [3] School of Control and Computer Engineering, North China Electric Power University, Beijing, China

第一机构：北京联合大学机器人学院

年份：2018

卷号：2018-August

起止页码：16-20

外文期刊名：International Conference on Advanced Mechatronic Systems, ICAMechS

收录：EI(收录号：20184806134151)

语种：英文

外文关键词：Robot programming - Structural design - Inverse kinematics - Mechanical actuators - Multipurpose robots - Cylinders (shapes) - Trajectories - Machine design

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. ? 2018 IEEE.