Title :
Notice of Retraction
Locomotion analysis and simulation of hydraulic quadruped robot
Author :
Ruan Xiangwei ; Zhao Hui
Author_Institution :
Coll. of Machinery & Autom., Wuhan Univ. of Sci. & Technol., Wuhan, China
Abstract :
Notice of Retraction
After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE´s Publication Principles.
We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.
The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.
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.
Keywords :
gait analysis; hydraulic actuators; legged locomotion; path planning; position control; robot kinematics; service robots; velocity control; virtual prototyping; gait simulation; hydraulic quadruped robot; locomotion analysis; modularized design method; position control; velocity control; virtual prototype model; hydraulic; kinematics; quadruped robot; virtual prototype simulation;
Conference_Titel :
Computer Application and System Modeling (ICCASM), 2010 International Conference on
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4244-7235-2
DOI :
10.1109/ICCASM.2010.5620336
