Dynamics of a Quadruped Walking Machine

Fu Chen Chen; Shang Chen Wu; Yung Cheng Chen

doi:10.4028/www.scientific.net/AMM.479-480.385

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 479-480Dynamics of a Quadruped Walking Machine

Dynamics of a Quadruped Walking Machine

Abstract:

The purpose of this study is to propose a new quadruped walking machine and investigate its dynamics. This paper first proposes a new quadruped walking machine and introduces its structure. The basic theory behind the equation of motion is briefly introduced. The dynamic characteristics of the walking machine, including the position, velocity, acceleration, support leg sequence, foot trajectory and pitch angle, are investigated and compared with the existing design. The results show that better transmission efficiency is achieved when the driving torque of the walking machine acts on the shaft of the crank. Compared to the existing design, the design proposed in this study has fewer changes in pitch angle during movement and exhibits less skidding while changing support leg.

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Periodical:

Applied Mechanics and Materials (Volumes 479-480)

Pages:

385-389

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.479-480.385

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Online since:

December 2013

Authors:

Fu Chen Chen, Shang Chen Wu, Yung Cheng Chen

Keywords:

Dynamic, Equation of Motion, Quadruped Walking Machine, Walking Mechanism

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