کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Trotting gait planning and simulation for a quadruped robot

نویسندگان :

َArdalan َAeini¹ Mohammadhossein Pourassad² Mohammad Reza Haghjooa³ Mostafa Taghizadeh⁴

1- Shahid Beheshti University 2- Shahid Beheshti University 3- Shahid Beheshti University 4- Shahid Beheshti University

کلمات کلیدی :

Robot, Quadruped, Simulation, Gait planning

چکیده :

Quadruped robots are generally faster and more stable than biped robots. In this paper, a model of a quadruped robot similar to Mini-Cheetah has been presented and investigated in terms of dynamic gait planning. First, the model has graphically been designed by SolidWorks which is composed of four legs with twelve rotational joints (three joints for each leg). Then, the robot has been dynamically modeled in ADAMS, by introducing appropriate constraints and contacts. An intuitive or graphical kinematic analysis has been conducted and a proper dynamically stable gait for the robot locomotion, i.e. trotting gait, has been planned. To extend and parametrize the gait study, the robot has further been simulated by linking ADAMS and MATLAB. The results showed the feasibility and effectiveness of the approach for quadruped gait planning and simulation.