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.

لیست مقالات

لیست مقالات بایگانی شده

On The Dynamic Calibration and Trajectory Control of ARASH:ASiST

Ali Hassani - M.R. Dindarloo - R. Khorrambakht - A. Bataleblu - R. Heidari - M. Motaharifar - S. F. Mohammadi - H. D. Taghirad

Whale Optimization Algorithms based Fractional Order Fuzzy PID Controller for Depth of Anesthesia

Amirsaeid Safari - Kosar Safari - Mohammad Manthouri

Rejection of Sinusoidal Disturbance of Unknown Frequency in Linear Systems with Unknown Input Delay

ٍٍEhsan Shahmoradi - Mohsen Mojiri

Enhancing Cyber Attack Detection in CPS Using a Semi-Supervised Approach to Determine Parameters for DBSCAN Algorithm

Hamid Navazani - Abolghasem Daeichian - AmirHossein Abolmasoumi

A Hybrid Fuzzy-Predictive Control for Smooth Transition Between Operating Modes of Voltage Source Inverters

Sahba Moslemimoghadam - Qobad Shafiee - Mobin Naderi - Hassan Bevrani

Cloud-Based Model Predictive Control for Consensus Problem of Controlled Automated Vehicles

Ali Karami Ghanavati - Mohammad Shakerpour - Ali Akbar Safavi - Nader Meskin

Detection of Defective Products in Injection Molding Process Using YOLO-NAS

Mohammadreza Asadi - Seyedeh Sogand Hashemi - Mohammad Taghi Sadeghi

طراحی کنترل کننده ی PID با بهره ی فازی نوع دو برای دستگاه جوش GMAW خطوط لوله

سعید عبدی - الهام امینی‌بروجنی - مهدی پورقلی

Continuous Wavelet Transformation and VGG16 Deep Neural Network for Stress Classification in PPG Signals

Yasin Hasanpoor - Bahram Tarvirdizadeh - Khalil Alipour - Mohammad Ghamari

Robust Inverse Dynamics Control of the Remotely Operated Underwater Vehicle Manipulator

Mahdi Armoon - Marzie Lafouti - Babak Tavassoli - .Hamid D Taghirad

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 41.3.2