Modeling of Walking-Gait Parameters and Walking Strategy for Quadruped Robots
نویسندگان
چکیده
The inspiration for the footed robot was originally derived from biology, and it an imitation of biological form movement. In this paper, a bionic-robot dog is designed to reveal motion characteristics quadruped mechanism through modeling, model kinematic analysis, other methods. First, structural movement developed bionic-dog are studied. first step study physiological structure dog, analyze function dog’s limbs, then use high-speed camera capture marked shoot video in different states. effective data points extracted using PHOTRON 1.0 software, analyzed processed software MATLAB R2020a, finally laws obtained. Then, bionic-robot-dog experimental platform built conduct experiments with three planned gaits (dynamic gait, static gait transition). showed that were consistent movements could perform stable fast-gait walking, slow-gait quickly complete transitions. All simulated ADAMS 2019 simulation results all caused bionic move smoothly.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13126876