Papers by Keyword: Four-Legged Walking Robot

Abstract: MiniQuad- II is a modular four-legged walking robot. In order to research dynamics and kinematics of the robot, based on inner relation of different simulation software, three-dimensional entity model of four-legged walking robot MiniQuad-II is built up with SOLIDWORKS software firstly. Then, the model is leaded in ADAMS software, dynamics and kinematics of the robot are simulated, the relevant process is described in this paper. As an example, the robot MiniQuad-II walking along straight line is investigated, the dynamics of the robot are analysed with ADAMS. Further, the influences on dynamics properties for the robot are discussed when structural parameters of the robot are changed. Results can be used to optimaze robot structure and determine its final characteristic parameter.

Abstract: Development of integrated hand-foot function is the inevitable choice for the practical application of multi-legged robots. In this paper, a new type of robot which has the structure of four-legged walking robot based on hand-foot-integration is introduced. The image system is installed in the body of the robot, which is used to direct the robot to complete grabbing object. Kinematics relations of grasping states of robot are described. The inverse kinematic is analyzed in details. Firstly, the structure of the robot is introduced. Secondly, the kinematics relation of serial manipulator with grasping function is researched. Finally, the inverse kinematics of robot in grasping object is obtained. The relevant formula is deduced in this paper, and the formula expression is given. The analysis process is last verified through a numerical example. The model can be used for motion control of robot.

Abstract: When walking robot MiniQuad-1 moves, the motion error is larger. The robot’s structure deformation is obvious. In order to improve the precision of the walking robot, the finite element analysis technique is adopted to research four-legged walking robot MiniQuad-1 in this paper. After the structure of the robot is introduced, the motion error of robot is discussed. The robot kinematics planning is completed based kinematics analysis. Some Motion postures are built using the solidworks. Static analysis of the motion pose is completed by using ansys software for robot MiniQuad-1. According to the analysis results, the robot structure improvement measures are determined. Further, the force and deformation for robot is studied after loading to lay the foundation for expand the robot of subsequent application.

Abstract: In the moving process of four-legged walking robot, the robot uses the random 3 foots to support its body, and the rest 1 foot to swing. This process is carried on alternately to complete the robot moved forward. If the robot's foothold position, the independent drive joint variables and the length of leg linkage are inaccurate, the robot's swing leg would deviate from the desired position, which led to the robot will deviate from the target track. The robot's swing leg trajectory is analyzed in this paper. On this basis, the swing leg trajectory accuracy is discussed under the condition that the errors of the robot's foothold position, drive joint variables and leg's linkage length are given. The analysis process is illustrated by an example. The error analysis has significant meaning for four-legged walking robot control .

Abstract: In order to reducing motors energy consumption, the problem about motion function, which has torque feature (AV) m small, is discussed in this paper. Conventional functions and small torque moment function are used to control mass center motion of robot ZQROT-I respectively. In the process of robot running the straight gait , motion performance of the robot is analyzed by ADAMS. Analysis result indicates that function controlling mass motion of robot with small torque feature has significant meaning for saving working energy of robot.