Research on Improved Cycloid Foot Trajectory of Quadruped Robot

Ying Lu; Xi Qing Zhao; Zhi Xiong Zhang; Jian Zhong Shang; Zi Rong Luo

doi:10.4028/www.scientific.net/AMM.278-280.576

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 278-280Research on Improved Cycloid Foot Trajectory of...

Research on Improved Cycloid Foot Trajectory of Quadruped Robot

Abstract:

To realize moving forward of quadruped robot by static walking, a cycloid was chose to be foot trajectory to generate a static gait with the inverse kinematics theory. Then the gait was simulated and testified with the dynamics simulation software named RecurDyn. According to the simulation results, the shortage of cycloid foot trajectory was pointed, that the unequal velocity of support feet was the key cause of body lateral shift in the process of simulation. So the cycloid foot trajectory was isokinetic improved and the foot velocity was made sure to be continuous. It was turned out to be that lateral shift phenomenon was eliminated with the improved static gait.

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Periodical:

Applied Mechanics and Materials (Volumes 278-280)

Pages:

576-581

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.278-280.576

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Cite this paper

Online since:

January 2013

Authors:

Ying Lu, Xi Qing Zhao, Zhi Xiong Zhang, Jian Zhong Shang, Zi Rong Luo

Keywords:

Foot Trajectory, Quadruped Robot, Recurdyn, Static Gait

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