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Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion

Load capacity is an important index to reflect the practicability of legged robots. Existing research into quadruped robots has not analyzed their load performance in terms of their structural design and control method from a systematic point of view. This paper proposes a structural design method a...

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Autores principales: Kang, Ru, Meng, Fei, Chen, Xuechao, Yu, Zhangguo, Fan, Xuxiao, Ming, Aiguo, Huang, Qiang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7697332/
https://www.ncbi.nlm.nih.gov/pubmed/33207708
http://dx.doi.org/10.3390/s20226543
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author Kang, Ru
Meng, Fei
Chen, Xuechao
Yu, Zhangguo
Fan, Xuxiao
Ming, Aiguo
Huang, Qiang
author_facet Kang, Ru
Meng, Fei
Chen, Xuechao
Yu, Zhangguo
Fan, Xuxiao
Ming, Aiguo
Huang, Qiang
author_sort Kang, Ru
collection PubMed
description Load capacity is an important index to reflect the practicability of legged robots. Existing research into quadruped robots has not analyzed their load performance in terms of their structural design and control method from a systematic point of view. This paper proposes a structural design method and crawling pattern generator for a planar quadruped robot that can realize high-payload locomotion. First, the functions required to evaluate the leg’s load capacity are established, and quantitative comparative analyses of the candidates are performed to select the leg structure with the best load capacity. We also propose a highly integrated design method for a driver module to improve the robot’s load capacity. Second, in order to realize stable load locomotion, a novel crawling pattern generator based on trunk swaying is proposed which can realize lateral center of mass (CoM) movement by adjusting the leg lengths on both sides to change the CoM projection in the trunk width direction. Finally, loaded crawling simulations and experiments performed with our self-developed quadruped robot show that stable crawling with load ratios exceeding 66% can be realized, thus verifying the effectiveness and superiority of the proposed method.
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spelling pubmed-76973322020-11-29 Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion Kang, Ru Meng, Fei Chen, Xuechao Yu, Zhangguo Fan, Xuxiao Ming, Aiguo Huang, Qiang Sensors (Basel) Article Load capacity is an important index to reflect the practicability of legged robots. Existing research into quadruped robots has not analyzed their load performance in terms of their structural design and control method from a systematic point of view. This paper proposes a structural design method and crawling pattern generator for a planar quadruped robot that can realize high-payload locomotion. First, the functions required to evaluate the leg’s load capacity are established, and quantitative comparative analyses of the candidates are performed to select the leg structure with the best load capacity. We also propose a highly integrated design method for a driver module to improve the robot’s load capacity. Second, in order to realize stable load locomotion, a novel crawling pattern generator based on trunk swaying is proposed which can realize lateral center of mass (CoM) movement by adjusting the leg lengths on both sides to change the CoM projection in the trunk width direction. Finally, loaded crawling simulations and experiments performed with our self-developed quadruped robot show that stable crawling with load ratios exceeding 66% can be realized, thus verifying the effectiveness and superiority of the proposed method. MDPI 2020-11-16 /pmc/articles/PMC7697332/ /pubmed/33207708 http://dx.doi.org/10.3390/s20226543 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Kang, Ru
Meng, Fei
Chen, Xuechao
Yu, Zhangguo
Fan, Xuxiao
Ming, Aiguo
Huang, Qiang
Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion
title Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion
title_full Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion
title_fullStr Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion
title_full_unstemmed Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion
title_short Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion
title_sort structural design and crawling pattern generator of a planar quadruped robot for high-payload locomotion
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7697332/
https://www.ncbi.nlm.nih.gov/pubmed/33207708
http://dx.doi.org/10.3390/s20226543
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