Towards a passive dynamic based motion of a quadruped
نویسندگان
چکیده
Available online ?? Robotic quadrupeds which can function as transportation machines present many advantages due to their high mobility and ability to traverse rugged terrain as opposed to conventional wheeled robots. However the high degrees of freedom and large number of actuators associated greatly increase their energy expenditure. This problem can be overcome by exploiting the natural or passive dynamics of the system in order to maximize the energy efficiency. The analysis of passive dynamics involves the derivation of the dynamic equations of motion which are then numerically integrated to generate the trajectories of the states of the system. We propose to create a dynamic model of a quadruped and generate optimal starting configurations by simulating the quadruped on Simulink/MATLAB and using the SimMechanics Toolbox. The method is verified by analysis of a two legged kneed walker.
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