Posture control strategy of a platform using a RP manipulator

This paper is an attempt to develop a posture control strategy for quadruped robot. Here, a concept of posture control is proposed, in which, a revolute and prismatic (RP) manipulator with payload at the end is used to control the body orientation. For the said analysis necessary model is developed in the bond graph and efficacy of the proposed strategies is validated through simulation results of the developed model.