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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...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
PeerJ Inc.
2021
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| Materias: | |
| 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 |