Dynamic stability analyzes for a parallel–serial legged quadruped robot

Abstract

One of the basic characteristics of the walking robots is the maintenance of their dynamic balance during the walk, and the stability of legged robots in locomotion is necessary. In the past few years, the dynamics of legged robots was studied based on very simple or simplified leg structures. A more complete dynamic model is essential for the further research of a practical legged robot. As an important enrichment in stability study for a walking robot, a stability measure named as moment ratio stability margin is introduced, which takes all stability factors into formulation. The mechanical structure of a novel parallel–serial legged mechanism is introduced. Based on this structure, the performance of the proposed method is demonstrated. The advantages and practical significance of the proposed technique are illustrated by comparing it with conventional methods. The experimental study is carried out to evaluate and characterize the performances of this method.

Perspective Of Vision, Motion Planning, And Motion Control for Quadruped Robots

“…Unlike traditional wheeled or tracked robots, foot robots can lift their legs off the ground for a short time to cross some discontinuous obstacles and move in places that are difficult for traditional robots to reach. At present, some institutions are committed to developing quadruped robots with excellent performance [18]. For example, in 2004, Boston Power Company of the United States developed a large quadruped robot Bigdog, which demonstrated its adaptability to complex terrain such as sloping mountains, soft snow, smooth ice, etc; Based on Bigdog's technology, Spot replaces the hydraulic drive with the motor drive.…”

“…For example, in 2004, Boston Power Company of the United States developed a large quadruped robot Bigdog, which demonstrated its adaptability to complex terrain such as sloping mountains, soft snow, smooth ice, etc; Based on Bigdog's technology, Spot replaces the hydraulic drive with the motor drive. With the help of the mechanical arm, it can open the door and go up and down stairs; MIT Cheetah3 of MIT can climb stairs without vision sensor [19]; Anymal of Anybotics Company uses integrated joint modules to reduce power consumption and improve sports performance; The Go1 of Yushu Technology in China and the "vanishing shadow" of Yunshen Technology also show good performance in motion control in complex environments. With the improvement of quadruped robot's motion performance, the requirements for quadruped robot to adapt to various working environments also appear.…”

“…Fig 19. The SLP strategy's overall schematic Calculating the straight path from the beginning location to the goal point is the first step of the suggested SLP path planning method.…”

Type Synthesis of a Novel 4‐Degrees‐of‐Freedom Parallel Bipedal Mechanism for Walking Robot

“…The hybrid-legged mechanism exhibits good compactness and has a large working space. [14,15] For example, Gim et al [16] designed a 6-degrees-of-freedom (DOF) hybrid bipedal robot that achieved agile bipedal movement by performing foot-end workspace analysis and offline trajectory planning. Subsequently, the same team designed a large hybrid bipedal robot.…”