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Littérature scientifique sur le sujet « Quadruped Robots »

Auteur : Grafiati

Publié le 4 juin 2021

Mis à jour le 18 février 2022

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Articles de revues sur le sujet "Quadruped Robots"

Zhang, Chunsong, et Jian S. Dai. « Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot ». Mechanical Sciences 9, n^o 1 (4 janvier 2018) : 1–14. http://dx.doi.org/10.5194/ms-9-1-2018.

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Abstract. The natural quadrupeds, such as geckos and lizards, often twist their trunks when moving. Conventional quadruped robots cannot perform the same motion due to equipping with a trunk which is a rigid body or at most consists of two blocks connected by passive joints. This paper proposes a metamorphic quadruped robot with a reconfigurable trunk which can implement active trunk motions, called MetaRobot I. The robot can imitate the natural quadrupeds to execute motion of trunk twisting. Benefiting from the twisting trunk, the stride length of this quadruped is increased comparing to that of conventional quadruped robots. In this paper a continuous static gait benefited from the twisting trunk performing the increased stride length is introduced. After that, the increased stride length relative to the trunk twisting will be analysed mathematically. Other points impacting the implementation of the increased stride length in the gait are investigated such as the upper limit of the stride length and the kinematic margin. The increased stride length in the gait will lead the increase of locomotion speed comparing with conventional quadruped robots, giving the extent that natural quadrupeds twisting their trunks when moving. The simulation and an experiment on the prototype are then carried out to illustrate the benefits on the stride length and locomotion speed brought by the twisting trunk to the quadruped robot.

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Li, Tengfei, Chunsong Zhang, Shengjie Wang et Jian S. Dai. « Jumping with Expandable Trunk of a Metamorphic Quadruped Robot—The Origaker II ». Applied Sciences 9, n^o 9 (29 avril 2019) : 1778. http://dx.doi.org/10.3390/app9091778.

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Most of the traditional quadruped robots are assembled with rigid trunks that make no active contributions to their locomotion performances. However, in the natural world, some quadrupeds expand their trunks when jumping. This paper proposes a metamorphic quadruped robot, named the Origaker II, with an expandable trunk that can implement the motion of contracting-stretching. Benefitting from the expandable trunk, this robot achieves a longer jumping distance than that of the traditional quadruped robots. The structure of the robot is introduced. Its jumping motion is designed based on the observation of a frog. The effect of the expandable trunk on this robot will be mathematically analyzed. At last, contrast simulations are conducted to verify the benefits of the expandable trunk to the robot.

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Yao, Ligang, Hao Yu et Zongxing Lu. « Design and driving model for the quadruped robot : An elucidating draft ». Advances in Mechanical Engineering 13, n^o 4 (avril 2021) : 168781402110090. http://dx.doi.org/10.1177/16878140211009035.

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Recent developments in driving mode have heightened the need for quadruped robots. However, it is still a challenge to improve the dynamic characteristics. This paper makes a comprehensive review of the quadruped robot driving mode, from two aspects: hydraulic drive and motor drive. The application of hydraulic drives in quadruped robots is relatively mature. As motor performance is improving, interest in motor driving mode for quadruped robots is growing rapidly. Specific quadruped robots of milestone significance are presented in different driving modes. The performance in load capacity and motion characteristics, in different driving modes, are compared. Finally, the research difficulties in the field of quadruped robots are analyzed, while future development of the quadruped robot shows high prospects. The purpose of this paper is to summarize and analyze the previous research results and provide useful guidance for robot designers in developing more efficient driving modes for quadruped robots.

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Li, Zhi, Hong Kai Li, Hao Zhang et Zhen Dong Dai. « Analysis and Design of Hydraulic System of a Hydraulically Actuated Quadruped Robot ». Applied Mechanics and Materials 461 (novembre 2013) : 861–68. http://dx.doi.org/10.4028/www.scientific.net/amm.461.861.

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Abstract.Quadruped not only possess excellent kinetic speed and stability but also can adapt to various complex terrains, with the result that hydraulically actuated quadruped bionic robots with high load and outstanding adaptability have become the research hotspot. Hydraulic system, which is regarded as the dynamic part of a hydraulic quadruped robot, has a direct effect on the kinetic capability of robots. Based on dog’s structure bionics, hydraulically actuated quadruped robot was designed. In accordance with distribution modes of hydraulic cylinders which drive robot’s kinetic joints, a hydraulic oil-line system of the robot was designed in this paper. Combining the maximum design kinetic velocity, trotting movement pattern within foot’s work space was planned. Velocity curve of each joint’s hydraulic cylinder was obtained through simulation analysis of dynamic analysis software. According to the structure of asymmetrical hydraulic cylinder, minimum flux which the oil hydraulic pump theoretically requires at the robot’s maximum kinetic speed was calculated. With practical experience, the oilsource parameter which could meet the demands of hydraulic quadruped robot were determined.

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Sutyasadi, Petrus, et Manukid Parnichkun. « Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed SensitivityH∞Robust Control ». Journal of Control Science and Engineering 2016 (2016) : 1–18. http://dx.doi.org/10.1155/2016/8760215.

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This paper proposed a control algorithm that guarantees gait tracking performance for quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is unstable. In addition to uncertainties of parameters and unmodeled dynamics, the quadruped robot always faces some disturbances. The uncertainties and disturbances contribute significant perturbation to the dynamic gait motion control of the quadruped robot. Failing to track the gait pattern properly propagates instability to the whole system and can cause the robot to fall. To overcome the uncertainties and disturbances, structured specified mixed sensitivityH∞robust controller was proposed to control the quadruped robot legs’ joint angle positions. Before application to the real hardware, the proposed controller was tested on the quadruped robot’s leg planar dynamic model using MATLAB. The proposed controller can control the robot’s legs efficiently even under uncertainties from a set of model parameter variations. The robot was also able to maintain its stability even when it was tested under several terrain disturbances.

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Jia, Yan, Xiao Luo, Baoling Han, Guanhao Liang, Jiaheng Zhao et Yuting Zhao. « Stability Criterion for Dynamic Gaits of Quadruped Robot ». Applied Sciences 8, n^o 12 (25 novembre 2018) : 2381. http://dx.doi.org/10.3390/app8122381.

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Dynamic-stability criteria are crucial for robot’s motion planning and balance recovery. Nevertheless, few studies focus on the motion stability of quadruped robots with dynamic gait, none of which have accurately evaluated the robots’ stability. To fill the gaps in this field, this paper presents a new stability criterion for the motion of quadruped robots with dynamic gaits running over irregular terrain. The traditional zero-moment point (ZMP) is improved to analyze the motion on irregular terrain precisely for dynamic gaits. A dynamic-stability criterion and measurement are proposed to determine the stability state of the robot and to evaluate its stability. The simulation results show the limitations of the existing stability criteria for dynamic gaits and indicate that the criterion proposed in this paper can accurately and efficiently evaluate the stability of a quadruped robot using such gaits.

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Yoneda, Kan. « Light Weight Quadruped with Nine Actuators ». Journal of Robotics and Mechatronics 19, n^o 2 (20 avril 2007) : 160–65. http://dx.doi.org/10.20965/jrm.2007.p0160.

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Quadruped robots, which tend to be heavy can be made lighter by carefully considering the number of actuators and required power. This paper discusses the relationship of the moving functions of quadruped locomotion and the required number of actuators. Using fewer actuators than conventionally need not prevent the quadruped robot from satisfactory locomotion. At the same time, energy saving brings a lighter design, because required actuators and batteries are smaller. This paper discusses several techniques to reduce energy consumption. Combining these discussions, examples of 3-, 5-, and 9-actuator quadrupeds are designed, and experimentally performed good locomotion.

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He, JingYe, JunPeng Shao, GuiTao Sun et Xuan Shao. « Survey of Quadruped Robots Coping Strategies in Complex Situations ». Electronics 8, n^o 12 (27 novembre 2019) : 1414. http://dx.doi.org/10.3390/electronics8121414.

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As an important branch of mobile robots, quadruped robots have high flexibility, high adaptability, and high dynamics, which provide excellent maneuverability and environmental adaptability. In the past ten years, researchers have done a lot of research on the ability of the quadruped robot to cope with the complex environment and published many results in order to make the working environment of the quadruped robot closer to reality. This paper collected these research results and divided these literatures into three categories according to different situations: crossing challenging terrain, walking on slope, and coping with interference, respectively, introducing representative methods. The purpose of this review is to summarize and analyze the previous research results and provide guidance for future research on quadruped robots in complex situations.

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Chatzakos, Panagiotis, et Evangelos Papadopoulos. « Self-Stabilising Quadrupedal Running by Mechanical Design ». Applied Bionics and Biomechanics 6, n^o 1 (2009) : 73–85. http://dx.doi.org/10.1155/2009/748719.

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Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property of the mechanical system. In running robots, simple motor control seems to be effective in the negotiation of rough terrain when used in concert with a mechanical system that stabilises passively. Spring-like legs are a means for providing self-stabilising characteristics against external perturbations. In this paper, we show that a quadruped robot could be able to perform self-stable running behaviour in significantly broader ranges of forward speed and pitch rate with a suitable mechanical design, which is not limited to choosing legs spring stiffness only. The results presented here are derived by studying the stability of the passive dynamics of a quadruped robot running in the sagittal plane in a dimensionless context and might explain the success of simple, open loop running controllers on existing experimental quadruped robots. These can be summarised in (a) the self-stabilised behaviour of a quadruped robot for a particular gait is greatly related to the magnitude of its dimensionless body inertia, (b) the values of hip separation, normalised to rest leg length, and leg relative stiffness of a quadruped robot affect the stability of its motion and should be in inverse proportion to its dimensionless body inertia, and (c) the self-stable regime of quadruped running robots is enlarged at relatively high forward speeds. We anticipate the proposed guidelines to assist in the design of new, and modifications of existing, quadruped robots. As an example, specific design changes for the Scout II quadruped robot that might improve its performance are proposed.

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Han, Shuo, Yuan Chen, Guangying Ma, Jinshan Zhang et Runchen Liu. « Gait Planning and Simulation Analysis of a New Amphibious Quadruped Robots ». Journal of Robotics and Mechatronics 30, n^o 2 (20 avril 2018) : 257–64. http://dx.doi.org/10.20965/jrm.2018.p0257.

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In order to allow quadruped robots to adapt to the complex working environment in the field of fisheries and aquaculture, a new type of quadruped robot with linear and rotary driving is proposed, and the kinematic inverse solution of the leg of the quadruped robot is deduced. For achieving quadruped robot smooth walking, the straight gait of the quadruped robot is planned according to the stability margin principle of motion, so that the stability margin of the machine is 20 mm when three legs supporting it. The planning gait is simulated by ADAMS software, the kinematics and dynamics analysis of the four main driving mechanisms of the robot leg were carried out, and the feasibility of using the STEP5 driving function to execute the planning gait in the quadruped robot was verified. The theoretical and simulation curve analysis results show that, the quadruped robot according to the planned gait can complete the cycle and have a stable walking. The results of this study can provide a reference for the practical application of the new amphibious quadruped robot in the fields of complex and uneven ground in the field of fisheries and aquaculture to realize exploration, fishing and transportation.

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Thèses sur le sujet "Quadruped Robots"

Krasny, Darren P. « Evolving dynamic maneuvers in a quadruped robot ». Columbus, Ohio : Ohio State University, 2005. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1133296951.

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Thorapalli, Muralidharan Seshagopalan, et Ruihao Zhu. « Continuum Actuator Based Soft Quadruped Robot ». Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-286348.

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Quadruped robots can traverse a multitude of terrains with greater ease when compared to wheeled robots. Traditional rigid quadruped robots possess severe limitations as they lack structural compliance. Most of the existing soft quadruped robots are tethered and are actuated using pneumatics, which is a low grade energy source and lacks viability for long endurance robots. The work in this thesis proposes the development of a continuum actuator driven quadruped robot which can provide compliance while being un-tethered and electro-mechanically driven. In this work, continuum actuators are developed using mostly 3D printed parts. Additionally, the closed loop control of continuum actuators for walking is developed. Linear Quadratic Regulator (LQR) and pole placement based methods for controller synthesis were evaluated and LQR was determined to be better when minimizing the actuator effort and deviation from set-point. These continuum actuators are composed together to form a quadruped. Gait analyses on the quadruped were conducted and legs of the quadruped were able to trace the gaits for walking and galloping.
Fyrfotarobotar kan lättare korsa en mängd olika terränger jämfört med hjulrobotar. Traditionella styva fyrfotarobotar har kraftiga begränsningar då de saknar strukturell följsamhet. De flesta befintliga mjuka fyrbenta robotar är kopplade till en eller flera kablar och drivs av pneumatik, vilket är en lågkvalitativ energikälla och lämpar sig inte för robotar med lång uthållighet. Arbetet i denna avhandling föreslår utvecklingen av en continuum ställdonsdriven fyrfotarobot, som ger följsamhet samtidigt som den ¨ar frånkopplad och elektromekaniskt driven. I detta arbete framställs continuum ställdon med mestadels 3D-printade delar. Dessutom utvecklas dessa ställdons slutna kontrolloop för gång. Linjärkvadratisk regulator (LQR) och metoder baserade på polplacering utvärderades för styrsyntes, och det fastställdes att LQR presterade bättre när man minimerar ställdonets ansträngning samt avvikelse från referensvärde. Continuum ställdon sammansattes för att bilda en fyrbent robot. Gånganalyser utfördes på roboten och dess ben kunde följa gång- och galopprörelser.

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Daepp, Hannes Gorkin. « Development of a multi-platform simulation for a pneumatically-actuated quadruped robot ». Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/45927.

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Successful development of mechatronic systems requires a combination of targeted hardware and software design. The compact rescue robot (CRR), a quadruped pneumatically-actuated walking robot that seeks to use the benefits garnered from pneumatic power, is a prime example of such a system. This thesis discusses the development and testing of a simulation that will aid in further design and development of the CRR by enabling users to examine the impacts of pneumatic actuation on a walking robot. However, development of an entirely new dynamic simulation specific to the system is not practical. Instead, the simulation combines a MATLAB/Simulink actuator simulation with a readily available C++ dynamics library. This multi-platform approach results in additional incurred challenges due to the transfer of data between the platforms. As a result, the system developed here is designed in the fashion that provides the best balance of realistic behavior, model integrity, and practicality. An analytically derived actuator model is developed using classical fluid circuit modeling together with nonlinear area and pressure curves to model the valve and a Stribeck-Tanh model to characterize the effects of friction on the cylinder. The valve model is designed in Simulink and validated on a single degree-of-freedom test rig. This actuator model is then interfaced with SrLib, a dynamics library that computes dynamics of the robot and interactions with the environment, and validated through comparisons with a CRR prototype. Conclusions are focused on the final composition of the simulation, its performance and limitations, and the benefits it offers to the system as a whole.

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Palmer, Luther R. « Intelligent control and force redistribution for a high-speed quadruped trot ». Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1174570965.

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Hunt, Alexander Jacob. « Neurologically Based Control for Quadruped Walking ». Case Western Reserve University School of Graduate Studies / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1445947104.

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Gu, Dongbing. « Behaviour-based learning and fuzzy control of autonomous quadruped robots ». Thesis, University of Essex, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.400989.

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Di, Carlo Jared(Jared J. ). « Software and control design for the MIT Cheetah quadruped robots ». Thesis, Massachusetts Institute of Technology, 2020. https://hdl.handle.net/1721.1/129877.

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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, February, 2020
Cataloged from student-submitted PDF of thesis.
Includes bibliographical references (pages 99-101).
This thesis documents the development and implementation of software and controllers for the MIT Mini Cheetah and MIT Cheetah 3 robots. The open source software I developed is designed to provide a framework for other research groups to use the Mini Cheetah platform and is currently being used by seven other groups from around the world. The controllers I developed for this thesis are provided as example code for these groups, and can be used to make the robot walk, run, and do a backflip. The locomotion controller utilizes a simplified model and convex optimization to stabilize complex gaits online, allowing it to control complex, fully 3D gaits with flight periods, such as galloping. The backflip is accomplished through offline trajectory optimization with an accurate dynamic model and was the first backflip done on a quadruped robot.
by Jared Di Carlo.
M. Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science

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Hardarson, Freyr. « Stability analysis and synthesis of statically balanced walking for quadruped robots ». Doctoral thesis, KTH, Machine Design, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3379.

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Bhat, Aditya. « Locomotion Trajectory Generation For Legged Robots ». Digital WPI, 2017. https://digitalcommons.wpi.edu/etd-theses/1167.

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This thesis addresses the problem of generating smooth and efficiently executable locomotion trajectories for legged robots under contact constraints. In addition, we want the trajectories to have the property that small changes in the foot position generate small changes in the joint target path. The first part of this thesis explores methods to select poses for a legged robot that maximises the workspace reachability while maintaining stability and contact constraints. It also explores methods to select configurations based on a reduced-dimensional search of the configuration space. The second part analyses time scaling strategy which tries to minimize the execution time while obeying the velocity and acceleration constraints. These two parts effectively result in smooth feasible trajectories for legged robots. Experiments on the RoboSimian robot demonstrate the effectiveness and scalability of the strategies described for walking and climbing on a rock climbing wall.

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Lee, Heon Joong Choe Song-Yul. « Modeling and analysis of a PEM fuel cell system for a quadruped robot ». Auburn, Ala, 2009. http://hdl.handle.net/10415/1786.

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Livres sur le sujet "Quadruped Robots"

Witte, Hartmut, Martin S. Fischer, Holger Preuschoft, Danja Voges, Cornelius Schilling et Auke Jan Ijspeert. Quadruped locomotion. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0031.

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This chapter considers locomotion in living machines, focusing particularly on mammals and on the possibility of designing mammal-like quadrupedal robots. Locomotion is the movement of an organism or a machine from one place to the other, covering a defined minimal distance. In organisms, locomotion usually is driven by a central element and/or appendices. Vertebrates are characterized by the existence of a spine and the mechanics of an endoskeletal system. The amphibio-reptile type of vertebrate locomotion shows oscillations of the body stem mainly in the horizontal, which are coupled to the ground by legs with two long segments. The vertical oscillations of the body stem in the mammal type of quadrupedal locomotion are coupled to the ground by legs with three long segments. For any size of animal and any allometric relation between mass and ground reaction force the resonance mechanisms of gravitational and spring-mass-pendula are tuned to one each other. Elongated feet allow torque exchange with the substrate.

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Prescott, Tony J. Mammals and mammal-like robots. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0045.

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Mammals are warm-blooded tetrapod vertebrates that evolved from reptilian ancestors during the late Triassic period around 225 million years ago. This chapter focuses on some of the most distinctive mammalian characteristics and on integrated robotic systems that seek to capture these capabilities in biomimetic artifacts. Topics covered include the mammalian brain, novel sensory systems, agile locomotion, dextrous grasp, and social cognition. Attempts to build integrated robotic systems that broadly match the behaviour and appearance of specific mammalian species have focused most strongly on humans, on quadrupeds such as cats and dogs, and on rodents. The goal of creating robots that resemble mammals will be encouraged by interest in mammal-like robots that can emulate some of the capacities for social companionship provided by domesticated mammals such as rabbits, dogs, and cats.

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Garcia, Elena, Pablo González-de-Santos et Joaquin Estremera. Quadrupedal Locomotion : An Introduction to the Control of Four-legged Robots. Springer, 2006.

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Estremera, Joaquin, Elena Garcia et Pablo Gonzalez González de Santos. Quadrupedal Locomotion : An Introduction to the Control of Four-legged Robots. Springer, 2011.

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Chapitres de livres sur le sujet "Quadruped Robots"

Galvez-Aranda, Diego, et Mauricio Galvez Legua. « Quadruped Robots ». Dans Robotics Models Using LEGO WeDo 2.0, 177–228. Berkeley, CA : Apress, 2021. http://dx.doi.org/10.1007/978-1-4842-6846-9_5.

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Krasny, Darren P., et David E. Orin. « A 3D Galloping Quadruped Robot ». Dans Climbing and Walking Robots, 467–74. Berlin, Heidelberg : Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_56.

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Silva, M. F., et J. A. Tenreiro Machado. « Energy Efficiency of Quadruped Gaits ». Dans Climbing and Walking Robots, 735–42. Berlin, Heidelberg : Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_88.

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Hengst, Bernhard, Darren Ibbotson, Son Bao Pham et Claude Sammut. « Omnidirectional Locomotion for Quadruped Robots ». Dans RoboCup 2001 : Robot Soccer World Cup V, 368–73. Berlin, Heidelberg : Springer Berlin Heidelberg, 2002. http://dx.doi.org/10.1007/3-540-45603-1_45.

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Palmer, L. R., et D. E. Orin. « Control of a 3D Quadruped Trot ». Dans Climbing and Walking Robots, 165–72. Berlin, Heidelberg : Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_19.

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Hennion, B., J. Pill et J. C. Guinot. « A Biologically Inspired Model For Quadruped Locomotion ». Dans Climbing and Walking Robots, 49–56. Berlin, Heidelberg : Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_5.

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Pham, Son Bao, Bernhard Hengst, Darren Ibbotson et Claude Sammut. « Stochastic Gradient Descent Localisation in Quadruped Robots ». Dans RoboCup 2001 : Robot Soccer World Cup V, 447–52. Berlin, Heidelberg : Springer Berlin Heidelberg, 2002. http://dx.doi.org/10.1007/3-540-45603-1_58.

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Focchi, Michele, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell et Claudio Semini. « Slip Detection and Recovery for Quadruped Robots ». Dans Springer Proceedings in Advanced Robotics, 185–99. Cham : Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60916-4_11.

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Yuan, Guo-liang, Shao-yuan Li, He-sheng Wang et Dan Huang. « Lateral Balance Recovery of Quadruped Robot on Rough Terrains ». Dans Wearable Sensors and Robots, 411–21. Singapore : Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2404-7_32.

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Liu, Cheng, Xiuli Zhang, Dongdong Li et Kunling Zhou. « A Flexible-Waist Quadruped Robot Imitating Infant Crawl ». Dans Advances in Reconfigurable Mechanisms and Robots I, 455–63. London : Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-4141-9_41.

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Actes de conférences sur le sujet "Quadruped Robots"

Zhang, Chunsong, Xuheng Chai et Jian S. Dai. « Preventing Tumbling With a Twisting Trunk for the Quadruped Robot : Origaker I ». Dans ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85053.

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The tumble stability indicates the capability to resist the tumble caused by disturbances. For a quadruped robot, the tumble is mainly about the line segment connecting two supporting feet. The tumble stability of quadruped robots is evaluated by various stability criteria based on forces, moments or energies. Work has been done to improve the tumble stability of quadruped robots. Nevertheless, the previous work to achieve this goal relied on motion of legs. No trunk motions were considered. As a matter of fact, trunk motion is widely utilized by natural quadrupeds. By utilizing trunk motion, the quadrupeds are able to regulate the center of gravity to improve the tumble stability level. This paper for the first time investigates the effect of the twisting trunk on the tumble stability of quadruped robots from the viewpoint of energy. Thus it can be seen that the twisting trunk help improve the tumble stability level of quadruped robots. The relationship between the tumble stability and trunk twisting is to be analyzed mathematically, and help find the maximum disturbing energy that the quadruped robot can bear with a twisting trunk and further direct motion of the trunk twisting during tumbles to prevent any overturning.

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Bhattacharya, Subhrajit, Sachin Chitta, Vijay Kumar et Daniel Lee. « Optimization of a Planar Quadruped Dynamic Leap ». Dans ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-50072.

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Quadruped walking robots need to handle high obstacles like steps that are often not kinematically reachable. We present a dynamic leap that allows a quadruped robot to put its front legs up onto a high rock or ledge, a motion we have found is critical to being able to locomote over rough terrain. The leaping motion was optimized using a simulated planar quadruped model. We present experimental results for the implementation of this optimized motion on a real quadruped robot.

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Zhou, Wei, Yinong Chen, Yijun Ma et Xu Pei. « Attitude Adjustment of a Quadruped Robot in the Air ». Dans ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47348.

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When the moments of climbing robots, jumping robots, and gliding robots extend to the air, they should reorient themselves to minimize the damage during a fall. Based on imitating a falling cat, robot can reorientate about one axis without external force. In this paper, an extended attitude adjustment method for quadruped robots is presented to achieve three degrees of freedom attitude adjustment with the movement of four robotic limbs. A mathematical model of a falling robot is established based on the multi-rigid-body unrooted tree system. The response of the prototype’s azimuth to the input of the cylindrical hinges is analyzed. A 3D model prototype was designed in SolidWorks and simulation experiments were carried out in ADAMS. Prototype were manufactured with a 3D printer, to validate the attitude adjustment method. The simulation and experimental results showed that the main body of the prototype was able to rotate respectively 89 degrees in the X-axis, 89 degrees in Y-axis, and 49 degrees in Z-axis in a movement cycle of the robotic limbs.

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Wang, Jing, Feng Gao et Yong Zhang. « High Power Density Drive System of a Novel Hydraulic Quadruped Robot ». Dans ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34804.

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Walking robots in practice are energy autonomy, so the high power density drive technology is crucial in robotics. In this paper, two approaches are proposed to increase power density of a novel hydraulic quadruped robot. One is that, a hybrid actuator is invented to make the simplest hydraulic system for robot. The structure and feature of the actuator is described in detail. The other is to reduce installed capacity by optimizing flow requirement. The factors that contribute to flow rate are analyzed. The experiment results show that the quadruped robot with the simplest hydraulic system works stably and reliably.

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Yosinski, Jason, Jeff Clune, Diana Hidalgo, Sarah Nguyen, Juan Cristobal Zagal et Hod Lipson. « Generating gaits for physical quadruped robots ». Dans the 13th annual conference companion. New York, New York, USA : ACM Press, 2011. http://dx.doi.org/10.1145/2001858.2001876.

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Pinto, Carla M. A. « Quadruped robots' modular trajectories : Stability issues ». Dans NUMERICAL ANALYSIS AND APPLIED MATHEMATICS ICNAAM 2012 : International Conference of Numerical Analysis and Applied Mathematics. AIP, 2012. http://dx.doi.org/10.1063/1.4756179.

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Krishna, P. Murali, R. Prasanth Kumar et S. Srivastava. « Level Trot Gait in Quadruped Robots ». Dans Conference. New York, New York, USA : ACM Press, 2013. http://dx.doi.org/10.1145/2506095.2506100.

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Tournois, Guido, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell et Claudio Semini. « Online payload identification for quadruped robots ». Dans 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017. http://dx.doi.org/10.1109/iros.2017.8206367.

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Joseph, Tarun, Ahmed Shaikh, Mitesh Sarode et Yerramreddy Srinivasa Rao. « Quadruped Robots : Gait Analysis and Control ». Dans 2020 IEEE 17th India Council International Conference (INDICON). IEEE, 2020. http://dx.doi.org/10.1109/indicon49873.2020.9342521.

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Saab, Wael, et Pinhas Ben-Tzvi. « Design and Analysis of a Robotic Modular Leg Mechanism ». Dans ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59388.

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This paper presents the design and analysis of a reduced degree-of-freedom Robotic Modular Leg (RML) mechanism used to construct a quadruped robot. This mechanism enables the robot to perform forward and steering locomotion with fewer actuators than conventional quadruped robots. The RML is composed of a double four-bar mechanism that maintains foot orientation parallel to the base and decouples actuation for simplified control, reduced weight and lower cost of the overall robotic system. A passive suspension system in the foot enables a stable four-point contact support polygon on uneven terrain. Foot trajectories are generated and synchronized using a trot and modified creeping gait to maintain a constant robot body height, horizontal body orientation, and provide the ability to move forward and steer. The locomotion principle and performance of the mechanism are analyzed using multi-body dynamic simulations of a virtual quadruped and experimental results of an integrated RML prototype.

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Rapports d'organisations sur le sujet "Quadruped Robots"

Scharzenberger, Cody. Design of a Canine Inspired Quadruped Robot as a Platform for Synthetic Neural Network Control. Portland State University Library, janvier 2000. http://dx.doi.org/10.15760/etd.7014.

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