Dynamic modeling, stability and energy efficiency of a quadrupedal walking machine

Author

Lin, Ben-Sheng ; Song, Shin-Min

Author_Institution

Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

367

Abstract

A dynamic model of a quadrupedal walking machine is derived to study the dynamic stability and energy efficiency during walking. The legs are three-axis, cylindrical pantograph legs and the whole system consists of twenty-nine links. The quadruped adopts a wave gait which has at least three feet on the ground. Significant efforts are made to improve the computational efficiency. The CPU time of the complete inverse dynamics, including kinematics, is about 10 msec in an IBM 3090. Dynamic stability and energy efficiency during walking with different hip axis orientations, walking velocity, strokes and duty factors are studied and discussed

Keywords

control system analysis computing; digital simulation; dynamics; mobile robots; stability; cylindrical pantograph legs; dynamic model; energy efficiency; inverse dynamics; kinematics; quadrupedal walking machine; stability; wave gait; Actuators; Computational modeling; Energy efficiency; Foot; Kinematics; Leg; Legged locomotion; Mechanical engineering; Stability analysis; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292201

Filename

292201