Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies

Dynamic locomotion plays a crucial role for legged robots to fulfill tasks in unstructured environments. This paper proposes whole-body kinematic and dynamic modeling method s based on screw theory for a quadruped robot using different gaits and mechanism topologies. Unlike simplified models such as...

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Detalles Bibliográficos
Autores principales: Yan, Wei, Pan, Yang, Che, Junjie, Yu, Jiexian, Han, Zhuchen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: PeerJ Inc. 2021
Materias:
Artificial Intelligence
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8725662/
https://www.ncbi.nlm.nih.gov/pubmed/35036536
http://dx.doi.org/10.7717/peerj-cs.821

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8725662/
https://www.ncbi.nlm.nih.gov/pubmed/35036536
http://dx.doi.org/10.7717/peerj-cs.821

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