Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist Characteristics
In order to improve the adaptability of the quadruped robot to the complex road surface, a quadruped robot with three degrees of freedom on one leg was presented. Firstly, based on the virtual prototyping technology, the ratio of the lower leg was optimized, and the best ratio of the lower leg was o...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2024-10-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.10.003 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841546889188605952 |
|---|---|
| author | Zhang Yongyue Wu Binghui Li Min Deng Yangtai Chen Yuan |
| author_facet | Zhang Yongyue Wu Binghui Li Min Deng Yangtai Chen Yuan |
| author_sort | Zhang Yongyue |
| collection | DOAJ |
| description | In order to improve the adaptability of the quadruped robot to the complex road surface, a quadruped robot with three degrees of freedom on one leg was presented. Firstly, based on the virtual prototyping technology, the ratio of the lower leg was optimized, and the best ratio of the lower leg was obtained, which took into account both the speed and the motion stability. Based on this, the waist length of the robot was optimized by using the optimization feature of the genetic algorithm and taking the space utilization rate as the objective function. Then, the forward kinematics analysis was carried out based on the D-H method. Finally, the Monte Carlo estimation of the foot reachable space was carried out by using the Matlab software. The ideal standing height and step length of the robot were obtained, which laid a foundation for the subsequent gait planning of the robot. |
| format | Article |
| id | doaj-art-62089ea9eedc4a3ca46b6ce43770182e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-10-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-62089ea9eedc4a3ca46b6ce43770182e2025-01-10T15:01:46ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-10-0148192576270949Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist CharacteristicsZhang YongyueWu BinghuiLi MinDeng YangtaiChen YuanIn order to improve the adaptability of the quadruped robot to the complex road surface, a quadruped robot with three degrees of freedom on one leg was presented. Firstly, based on the virtual prototyping technology, the ratio of the lower leg was optimized, and the best ratio of the lower leg was obtained, which took into account both the speed and the motion stability. Based on this, the waist length of the robot was optimized by using the optimization feature of the genetic algorithm and taking the space utilization rate as the objective function. Then, the forward kinematics analysis was carried out based on the D-H method. Finally, the Monte Carlo estimation of the foot reachable space was carried out by using the Matlab software. The ideal standing height and step length of the robot were obtained, which laid a foundation for the subsequent gait planning of the robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.10.003Quadruped robotLeg configurationGenetic algorithmD-H methodMonte Carlo method |
| spellingShingle | Zhang Yongyue Wu Binghui Li Min Deng Yangtai Chen Yuan Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist Characteristics Jixie chuandong Quadruped robot Leg configuration Genetic algorithm D-H method Monte Carlo method |
| title | Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist Characteristics |
| title_full | Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist Characteristics |
| title_fullStr | Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist Characteristics |
| title_full_unstemmed | Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist Characteristics |
| title_short | Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist Characteristics |
| title_sort | leg configuration and foot motion space estimation of a quadruped robot considering waist characteristics |
| topic | Quadruped robot Leg configuration Genetic algorithm D-H method Monte Carlo method |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.10.003 |
| work_keys_str_mv | AT zhangyongyue legconfigurationandfootmotionspaceestimationofaquadrupedrobotconsideringwaistcharacteristics AT wubinghui legconfigurationandfootmotionspaceestimationofaquadrupedrobotconsideringwaistcharacteristics AT limin legconfigurationandfootmotionspaceestimationofaquadrupedrobotconsideringwaistcharacteristics AT dengyangtai legconfigurationandfootmotionspaceestimationofaquadrupedrobotconsideringwaistcharacteristics AT chenyuan legconfigurationandfootmotionspaceestimationofaquadrupedrobotconsideringwaistcharacteristics |