Research and Simulation on Foot Trajectory of Zero-Slippage and Non-Laterodeviation

Abstract:

In order to test the result of straight-line walking driven by simple cycloid foot trajectory, a kind of quadruped robot is proposed and Adams software is used to simulate the gait. According to the results, the shortage of simple cycloid foot trajectory is analyzed, that the unequal velocity of supporting feet was the key cause of feet-slippage and laterodeviation in the process of simulation. Thereby, the supporting phase of cycloid gait is smoothed, so that the phenomenon of differential in supporting legs is eliminated and the foot velocity is guaranteed to be continuous. After simulation again, the results show that feet-slippage and laterodeviation are solved.

• Periodical: Applied Mechanics and Materials (Volume 437)
• Pages: 798-802
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.437.798
• Online since: October 2013
• Authors: Lei Xi, Jian Zhong Shang*, Zi Rong Luo
• Keywords: Adam, Cycloid Gait, Foot Trajectory, Quadruped Robot

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