Design and simulation for a hydraulic actuated quadruped robot |
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Authors: | Rong Xuewen Li Yibin Ruan Jiuhong Li Bin |
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Affiliation: | 1.School of Control Science and Engineering, Shandong University, Jinan, 250061, China ;2.Advanced Vehicle and Robot Institute, Shandong Jiaotong University, Jinan, 250031, China ; |
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Abstract: | This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary
joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse
kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed
of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along forward
and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide
important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders. |
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