Locomotion Analysis and Simulation of Hydraulic Quadruped Robot
Hydraulic quadruped robot can work in dangerous environments and can carry heavy load, so there is a broad and potential future for such a robot. In this paper, modularized design method is adopted in order to have an efficient and standard mechanism design. And then leg module structure is made, analyzed is how parameters affect robot walking velocity and operate space, and derived are foot position and velocity. In the end, virtual prototype model of hydraulic quadruped robot is made, gait and locomotion simulation is practiced on this model. By analyzing simulation results, it is put forward that compliant control strategy should be studied in the future.
hydraulic quadruped robot kinematics virtual prototype simulation
Ruan Xiangwei Zhao Hui
College of Machinery and Automation Wuhan University of Science and Technology Wuhan, China
国际会议
太原
英文
324-327
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）