Cargando…
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...
Autores principales: | , , , , , , |
---|---|
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 |
_version_ | 1783615583467601920 |
---|---|
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. |
format | Online Article Text |
id | pubmed-7697332 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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 |
work_keys_str_mv | AT kangru structuraldesignandcrawlingpatterngeneratorofaplanarquadrupedrobotforhighpayloadlocomotion AT mengfei structuraldesignandcrawlingpatterngeneratorofaplanarquadrupedrobotforhighpayloadlocomotion AT chenxuechao structuraldesignandcrawlingpatterngeneratorofaplanarquadrupedrobotforhighpayloadlocomotion AT yuzhangguo structuraldesignandcrawlingpatterngeneratorofaplanarquadrupedrobotforhighpayloadlocomotion AT fanxuxiao structuraldesignandcrawlingpatterngeneratorofaplanarquadrupedrobotforhighpayloadlocomotion AT mingaiguo structuraldesignandcrawlingpatterngeneratorofaplanarquadrupedrobotforhighpayloadlocomotion AT huangqiang structuraldesignandcrawlingpatterngeneratorofaplanarquadrupedrobotforhighpayloadlocomotion |