A new approach for development of quadruped robot based on biological concepts

Abstract

NOMENCLATURE l = length of body l 0 = distance between two legs l 1 = length of first link l 2 = length of second link h = height of quadruped robot w = width of quadruped robot s = length of slider m = mass of quadruped robot This paper proposes the design and development results of a new quadruped robot. The proposed new quadruped robot has a couple of advantages of flexible locomotion. The quadruped robot is designed and modeled based on a new concept that is the structure model with three segments of quadruped legs. New leg configuration with the simplified operation of four hip actuators is introduced. The posture of the new quadruped robot is more similar to the posture of dog than that of the previous quadruped robots. The objective of this paper is to develop a quadruped robot, which can walk and run in a trot gait with a simple PID controller. Numerical simulation and experimental results are shown to prove the locomotion performance of the proposed controller for the proposed quadruped robot.

Quadrupedal bounding with an actuated spinal joint

“…The bounding behavior supported by this model, however, is much more constrained than its natural counterpart, which explicitly relies on spinal flexion both for increased speed [10] and thrust [11]. Nevertheless, there has only been a few attempts with limited success to implement similar mechanisms on robotic platforms [12], with substantial research effort devoted instead to the design of different leg structures and associated actuation mechanisms [13][14][15].…”

Dynamical Planning Simulation of Quadruped Robot Based on Force Control Model

“…The quadruped robot has multiple branched kinematic mechanisms, which has time-variant motion topology mechanism, and it also is a kind of redundant drive system. Every leg of quadruped robot with full range maneuvering performance has at least three driving joints, therefore the quadruped robot has twelve driving joints, and the mechanism diagram of quadruped robot is shown in Figure 1 [1].…”

A Comparative Study among Three Automatic Gait Generation Methods for Quadruped Robots

“…Providing good locomotion capabilities for robots is very significant for allowing them to carry out useful tasks in a variety of environments [1]- [3]. The automatic generation of gaits is especially important for walking robots because different environments and newly developed robots make it important to generate a variety of gaits in a short period of time [2].…”