Creeping Gait Analysis and Simulation of a Quadruped Robot

A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits: creeping gait, running gait and galloping...

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Autores principales:	Firas A. Raheem, Murtadha Khudhair Flayyih
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2019
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/839295ed7ab04ccc8d9fe99161963ed8
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spelling	oai:doaj.org-article:839295ed7ab04ccc8d9fe99161963ed82021-12-02T06:16:27ZCreeping Gait Analysis and Simulation of a Quadruped Robot10.22153/kej.2018.12.0041818-11712312-0789https://doaj.org/article/839295ed7ab04ccc8d9fe99161963ed82019-03-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/393https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits: creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips. Firas A. RaheemMurtadha Khudhair FlayyihAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 14, Iss 2 (2019)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Firas A. Raheem Murtadha Khudhair Flayyih Creeping Gait Analysis and Simulation of a Quadruped Robot
description	A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits: creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.
format	article
author	Firas A. Raheem Murtadha Khudhair Flayyih
author_facet	Firas A. Raheem Murtadha Khudhair Flayyih
author_sort	Firas A. Raheem
title	Creeping Gait Analysis and Simulation of a Quadruped Robot
title_short	Creeping Gait Analysis and Simulation of a Quadruped Robot
title_full	Creeping Gait Analysis and Simulation of a Quadruped Robot
title_fullStr	Creeping Gait Analysis and Simulation of a Quadruped Robot
title_full_unstemmed	Creeping Gait Analysis and Simulation of a Quadruped Robot
title_sort	creeping gait analysis and simulation of a quadruped robot
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2019
url	https://doaj.org/article/839295ed7ab04ccc8d9fe99161963ed8
work_keys_str_mv	AT firasaraheem creepinggaitanalysisandsimulationofaquadrupedrobot AT murtadhakhudhairflayyih creepinggaitanalysisandsimulationofaquadrupedrobot
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Creeping Gait Analysis and Simulation of a Quadruped Robot

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