Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot
To meet the stability requirements for moving quadruped robots, it is important to design a rational structure for a single leg and plan the trajectory of the foot. First, a novel electrically driven leg mechanism for a quadruped robot is designed in this paper to reduce the inertia of the leg swing...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/6627043 |
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| _version_ | 1850225788404629504 |
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| author | Mingfang Chen Qi Li Sen Wang Kaixiang Zhang Hao Chen Yongxia Zhang |
| author_facet | Mingfang Chen Qi Li Sen Wang Kaixiang Zhang Hao Chen Yongxia Zhang |
| author_sort | Mingfang Chen |
| collection | DOAJ |
| description | To meet the stability requirements for moving quadruped robots, it is important to design a rational structure for a single leg and plan the trajectory of the foot. First, a novel electrically driven leg mechanism for a quadruped robot is designed in this paper to reduce the inertia of the leg swing. Second, a modified foot trajectory based on a compound cycloid is proposed, which has swing-back and retraction motion and continuous velocity in the x-axis direction. Third, a Simulink platform is built to verify the correctness of the proposed foot trajectory. The simulation result shows that when the flight phase and the stand phase switch, the impact of torque is smaller than the foot trajectory before modification. Finally, an experimental platform is constructed, and a control algorithm is written into the controller to realize the foot proposed trajectory. The results of the experiment prove the feasibility of the leg mechanism and the rationality of the proposed foot trajectory. |
| format | Article |
| id | doaj-art-5bbf379ebaf44c989ffe56766d2333e3 |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-5bbf379ebaf44c989ffe56766d2333e32025-08-20T02:05:14ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/66270436627043Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped RobotMingfang Chen0Qi Li1Sen Wang2Kaixiang Zhang3Hao Chen4Yongxia Zhang5Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaTo meet the stability requirements for moving quadruped robots, it is important to design a rational structure for a single leg and plan the trajectory of the foot. First, a novel electrically driven leg mechanism for a quadruped robot is designed in this paper to reduce the inertia of the leg swing. Second, a modified foot trajectory based on a compound cycloid is proposed, which has swing-back and retraction motion and continuous velocity in the x-axis direction. Third, a Simulink platform is built to verify the correctness of the proposed foot trajectory. The simulation result shows that when the flight phase and the stand phase switch, the impact of torque is smaller than the foot trajectory before modification. Finally, an experimental platform is constructed, and a control algorithm is written into the controller to realize the foot proposed trajectory. The results of the experiment prove the feasibility of the leg mechanism and the rationality of the proposed foot trajectory.http://dx.doi.org/10.1155/2021/6627043 |
| spellingShingle | Mingfang Chen Qi Li Sen Wang Kaixiang Zhang Hao Chen Yongxia Zhang Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot Complexity |
| title | Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot |
| title_full | Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot |
| title_fullStr | Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot |
| title_full_unstemmed | Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot |
| title_short | Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot |
| title_sort | single leg structural design and foot trajectory planning for a novel bioinspired quadruped robot |
| url | http://dx.doi.org/10.1155/2021/6627043 |
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