Modeling and Optimal Control of Rescue Quadruped Robot with High Payload

摘要：

　　Timely and efficient rescue missions in nuclear power plant accidents require operating robots to work under high payload typically more than 300 lb.Dynamics of the high payload quadruped robots driven by hydraulic cylinder with parallel designed legs are typically studied by commercial software due to its complexity to establish proper models.This paper proposes a kinematics model and an approximate dynamics model to describe the velocity and the force of the hydraulic cylinder,which are then used to characterize the energy requirement for rescuing walking performance.Furthermore,the models are used to optimally design the step length and height in robot rescue mission that balances the trade off between the energy consumption in robotic motion due to limited battery capacity and the requirement for timely rescuing.We applied Nelder-Mead algorithm to solve for the optimal pair of length and height.

关键词： Quadruped robot Trajectory planning Trot gait

作者: Nan Hu Shaoyuan Li Dan Huang Feng Gao

作者单位: Department of Automation, Shanghai Jiao Tong University,Shanghai 200240, China School of Aeronautics and Astronautics, Shanghai Jiao Tong University,Shanghai 200240, China School of Mechanical Engineering, Shanghai Jiao Tong University,Shanghai 200240, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 521-535

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）