Kinematics Analysis and Simulation of a Quadruped Robot
This paper presents the mechanical configuration of a quadruped robot with 4 rotary joints per leg firstly. All joints of the robot are activated by 16 identical hydraulic servo cylinders. Then it gives the forward and inverse kinematic equations of one leg with D-H transformation matrix. Furthermore, it also gives the jacobian matrix of the legs. The jacobian matrix establishes the relationships between the angle velocities of the 4 joints of the supporting leg and the moving velocity of the robot trunk. Lastly, a simple trot gait simulation is given based on MSC.ADAMS under the assumption that there are no slippages between the supporting feet and the ground.
quadruped robot D-H transformation jacobian matrix MSC ADAMS
Xuewen Rong Yibin Li Jiuhong Ruan Hongjun Song
School of Control Science and Engineering, Shandong University, China Advanced Vehicle and Robot Institute, Shandong Jiaotong University, China
国际会议
2010 International Conference on Advanced Mechanical Engineering(2010年先进机械工程国际学术会议 AME 2010)
洛阳
英文
517-522
2010-09-04（万方平台首次上网日期，不代表论文的发表时间）