Dynamic Vertical Climbing Mechanism of Chinese Dragon-Li Cats Based on the Linear Inverted Pendulum Model

Niu, Qun; Zhao, Jieliang; Liang, Lulu; Xing, Jun

doi:10.1007/s42235-022-00248-3

J Bionic Eng

2022

DOI: 10.1007/s42235-022-00248-3

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Dynamic Vertical Climbing Mechanism of Chinese Dragon-Li Cats Based on the Linear Inverted Pendulum Model

Qun Niu

Jieliang Zhao

Lulu Liang

et al.

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Cited by 3 publications

References 27 publications

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Design and Simulation of Bionic Quadruped Obstacle‐Overcoming Robot

Zhang,

Zhao,

Zhang

et al. 2024

Adv Materials Technologies

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Advances in bionic technology have enabled quadruped robots to be more flexible. Numerous quadruped robots in various forms specialize in walking and trotting, whereas very few robots achieve high‐performance obstacle‐overcoming. A bionic quadruped standing long jump obstacle‐overcoming robot is presented. By using two synchronous belts and energy storage, this robot is capable of high‐performance jumping. A flexible spine for the bionic quadruped obstacle‐overcoming robot is also presented to achieve energy storage and shock absorption during obstacle‐overcoming. Furthermore, the control framework by establishing the dynamic models of the single limb is proposed. To validate the feasibility and accuracy of the design theory and robot scheme, simulations are conducted. The results of these simulations clearly illustrate the robot's ability to successfully overcome obstacles of varying heights, thereby affirming the correctness of its limb dynamics models. In comparison to traditional quadruped robots, the bionic quadruped obstacle‐overcoming robot proves its efficacy in navigating challenging terrains.

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Design and Simulation of Bionic Quadruped Obstacle‐Overcoming Robot

Zhang,

Zhao,

Zhang

et al. 2024

Adv Materials Technologies

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Minimum-Time and Minimum-Jerk Gait Planning in Joint Space for Assistive Lower Limb Exoskeleton

2023

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Biomimetic wall-climbing robots: Research foundation, key technologies and development forecasts

Pei,

Liu,

Shi

et al. 2023

Chin. Sci. Bull.

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Dynamic Vertical Climbing Mechanism of Chinese Dragon-Li Cats Based on the Linear Inverted Pendulum Model

Cited by 3 publications

References 27 publications

Design and Simulation of Bionic Quadruped Obstacle‐Overcoming Robot

Design and Simulation of Bionic Quadruped Obstacle‐Overcoming Robot

Minimum-Time and Minimum-Jerk Gait Planning in Joint Space for Assistive Lower Limb Exoskeleton

Biomimetic wall-climbing robots: Research foundation, key technologies and development forecasts

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