Research on influence of joint reactions on stability of quadruped machine walking in trot gait

Author

He, Dongqing ; Liu, Yancong ; Ma, Peisun

Author_Institution

Sch. of Mechatronical Eng., China Univ. of Pet., Dongying

fYear

2008

fDate

25-27 June 2008

Firstpage

4870

Lastpage

4875

Abstract

To realize high speed stable walking of quadruped machine, we proposed a dynamic model in the longitudinal plane of JTUWM-III quadruped walking machine in trot gait. We analyzed the influence of joint reactions on vibration and balance of the body, such as vibration of the body in walking direction and vertical direction, pitching of the body around the centre of gravity of the robot. To eliminate the bad effects of the joint reactions, we also proposed several methods, such as lifting the linkages between thighs and body to the height of the centre of gravity of the robot, etc. They were verified through calculations and dynamic simulations of virtual prototype of the robot.

Keywords

legged locomotion; robot dynamics; stability; vibrations; JTUWM-III quadruped walking machine; dynamic simulations; high speed stable walking; joint reactions; quadruped machine walking; stability; trot gait; virtual prototype; Couplings; Gravity; Intelligent control; Intelligent robots; Leg; Legged locomotion; Petroleum; Robotics and automation; Stability; Thigh; dynamics; gait; quadruped machine; research; stability; trot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593713

Filename

4593713