Structural Design, Simulation and Experiment of Quadruped Robot

This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements...

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Autores principales:	Yunde Shi, Shilin Li, Mingqiu Guo, Yuan Yang, Dan Xia, Xiang Luo
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	quadruped robot structural design gait planning foot-ground contact MATLAB and ADAMS simulation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/b7efde7b3f4b4661bc3277fcffd7d698
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spelling	oai:doaj.org-article:b7efde7b3f4b4661bc3277fcffd7d6982021-11-25T16:35:55ZStructural Design, Simulation and Experiment of Quadruped Robot10.3390/app1122107052076-3417https://doaj.org/article/b7efde7b3f4b4661bc3277fcffd7d6982021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10705https://doaj.org/toc/2076-3417This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements and smooth motions. Furthermore, the kinematic and inverse kinematic solutions based on the DH method are explored to lay the foundation for the gait algorithm. Afterward, a classical compound pendulum equation is applied as the foot-end trajectory and inverse kinematic solutions are combined to complete the gait planning. With appropriate foot–ground contact modeling, MATLAB and ADAMS are used to simulate the dynamic behavior and the diagonal trot gait of the quadruped robot. Finally, the physical prototype is constructed, designed and debugged, and its performance is measured through real-world experiments. Results show that the quadruped robot is able to balance itself during trot motion, for both its pitch and roll attitude. The goal of this work is to provide an affordable yet comprehensive platform for novice researchers in the field to study the dynamics, contact modeling, gait planning and attitude control of quadruped robots.Yunde ShiShilin LiMingqiu GuoYuan YangDan XiaXiang LuoMDPI AGarticlequadruped robotstructural designgait planningfoot-ground contactMATLAB and ADAMS simulationTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10705, p 10705 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	quadruped robot structural design gait planning foot-ground contact MATLAB and ADAMS simulation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	quadruped robot structural design gait planning foot-ground contact MATLAB and ADAMS simulation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Yunde Shi Shilin Li Mingqiu Guo Yuan Yang Dan Xia Xiang Luo Structural Design, Simulation and Experiment of Quadruped Robot
description	This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements and smooth motions. Furthermore, the kinematic and inverse kinematic solutions based on the DH method are explored to lay the foundation for the gait algorithm. Afterward, a classical compound pendulum equation is applied as the foot-end trajectory and inverse kinematic solutions are combined to complete the gait planning. With appropriate foot–ground contact modeling, MATLAB and ADAMS are used to simulate the dynamic behavior and the diagonal trot gait of the quadruped robot. Finally, the physical prototype is constructed, designed and debugged, and its performance is measured through real-world experiments. Results show that the quadruped robot is able to balance itself during trot motion, for both its pitch and roll attitude. The goal of this work is to provide an affordable yet comprehensive platform for novice researchers in the field to study the dynamics, contact modeling, gait planning and attitude control of quadruped robots.
format	article
author	Yunde Shi Shilin Li Mingqiu Guo Yuan Yang Dan Xia Xiang Luo
author_facet	Yunde Shi Shilin Li Mingqiu Guo Yuan Yang Dan Xia Xiang Luo
author_sort	Yunde Shi
title	Structural Design, Simulation and Experiment of Quadruped Robot
title_short	Structural Design, Simulation and Experiment of Quadruped Robot
title_full	Structural Design, Simulation and Experiment of Quadruped Robot
title_fullStr	Structural Design, Simulation and Experiment of Quadruped Robot
title_full_unstemmed	Structural Design, Simulation and Experiment of Quadruped Robot
title_sort	structural design, simulation and experiment of quadruped robot
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/b7efde7b3f4b4661bc3277fcffd7d698
work_keys_str_mv	AT yundeshi structuraldesignsimulationandexperimentofquadrupedrobot AT shilinli structuraldesignsimulationandexperimentofquadrupedrobot AT mingqiuguo structuraldesignsimulationandexperimentofquadrupedrobot AT yuanyang structuraldesignsimulationandexperimentofquadrupedrobot AT danxia structuraldesignsimulationandexperimentofquadrupedrobot AT xiangluo structuraldesignsimulationandexperimentofquadrupedrobot
_version_	1718413098315939840

Structural Design, Simulation and Experiment of Quadruped Robot

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