The Mathematical Modeling and Dynamic Trot Gait Simulation on the Single Leg Hydraulic Drive System of the Quadruped Robot

Abstract:

In this paper, the single leg hydraulic drive system of the quadruped robot is taken as the research object. Then the nonlinear mathematical model of the hydraulic system is built. According to the real mechanical structure parameters of the single leg, the relationship between position control characteristics of the system and variation of single leg trajectory is investigated. Besides, the tracing accuracy of single leg foot displacement in one trot gait condition is analyzed through combination of kinematics solution and simulation analysis. In conclusion, the research indicates that the nonlinear mathematical model can be used to analyze the position control performance of the single leg hydraulic drive system. This research provides a basic foundation for further research of control method.

• Periodical: Applied Mechanics and Materials (Volume 865)
• Pages: 417-422
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.865.417
• Online since: June 2017
• Authors: Xiang Dong Kong, Kai Xian Ba, Bin Yu*, Chun He Li, Qi Xin Zhu, Wen Feng Li
• Keywords: Hydraulic Drive Unit, Position Control, Quadruped Robot, Single Leg Hydraulic Drive System

References

[1] X. D. Kong, K. X. Ba, B. Yu, Y. Cao, et al. Trajectory sensitivity analysis of first order and second order on position control system of highly integrated valve-controlled cylinder, J. Mech. Sci. Technol. 29(10) (2015) 4445-4464.

DOI: 10.1007/s12206-015-0944-x

[2] M. Li, Z. Y. Jiang, W. Guo, L. Sun, Leg Prototype of a Bio-inspired Quadruped Robot, ROBOT, 36(1) (2014) 21-28.

[3] X. D. Kong, B. Yu, L. X. Quan, K. X. Ba, M. Li, Characteristic Parameters Sensitivity of Position Servo Control for Hydraulic Drive Unit of a Quadruped Robot in Trotting Gait. Robot. 37(1) (2015) 53-62.

[4] L. H. Ding, R. X. Wang, H. S. Feng, et al. Brief Analysis of a BigDog Quadruped Robot, China Mech. Eng. 23(5) (2012) 505-514.

[5] X. D. Kong, B. Yu, L. X. Quan, K. X. BA, Trajectory Sensitivity Analysis of Hydraulic Drive Unit of Quadruped Bionic Robot, J. Mech. Eng. 49(14) (2013) 170-175.

DOI: 10.3901/jme.2013.14.170

[6] J. Gao, H. Li, H. Liu, Y. Liu, et al. The modeling and controlling of electrohydraulic actuator for quadruped robot based on fuzzy Proportion Integration Differentiation controller, J. Mech. Eng. Sci. 288(14) (2014) 2557-2568.

DOI: 10.1177/0954406213519613

[7] S. Claudio, HyQ-Design and Development of a Hydraulically Actuated Quadruped Robot, Genoa: Italian Institute of Technology, (2010).

[8] X. D. Kong, B. Yu, L. X. Quan, K. X. Ba, et al. Nonlinear Mathematical Modeling and Sensitivity Analysis of Hydraulic Drive Unit, Chin. J. Mech. Eng. (English Edition), 28(5) (2015) 999-1011.

DOI: 10.3901/cjme.2015.0626.083

[9] Z. Y. Jiang, Control of Quadruped Robot in Trotting Gait Based on SLIP Model, Harbin Institute of Technology, 2014, 78-96.