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

Design and Implementation of an Automated CO2 Incubator for Cell Culture Applications

Mohammad Sadegh Bank - Fateme Khanmohammadi - Seyed Ahmadreza Firoozabadi - Majid Badieirostami

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

Amirsaeid Safari - Kosar Safari - Mohammad Manthouri

Machine Learning-Based Prediction of Coronary Heart Disease

Badrosadat Nategholeslam Shirazi - Shiva Naghsh - Ali Akbar Safavi - Amir Sharafkhaneh

Adaptive Neural Command Filtered Backstepping Control of Uncertain Nonlinear Systems Subject to Bouc-Wen Hysteresis Input

Maryam Shahriari-kahkeshi

Robust fixed-time current controller for LC-filtered grid-forming inverters with model uncertainties and actuator faults

Naser Padar - Amin Fathollahzadeh - Mohammad Javad Mirzaei

Self-powered WiFi-connected monitoring stations for environmental pollution app-based control in urban and industrial areas

Paolo Visconti - Roberto De Fazio - Ramiro Velazquez - Bassam Al-Naami - Amir Aminzadeh Ghavifekr

Designing and implementing an algorithm based on an autoregressive Kalman filter to estimate well-log data

Sina Soltani

کنترل دوشاخگی و آشوب در مبدل بوست کنترل کننده مد جریان

نجمه زمانی

Comparative Analysis of Data-Driven Predictive Control Strategies

Ali Rezaei - Ali Khaki-Sedigh

تحلیل پایداری وابسته و مستقل از تاخیر سیستم های سوئیچینگ با تاخیر زمانی زمان-متغیر مبتنی بر تابع لیاپانوف چندگانه

حسین چهاردولی

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.2.8