| Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory | |
Liu MM(刘明敏)1,2,3 ; Qu DK(曲道奎)1,2,4; Xu F(徐方)1,2,4; Zou FS(邹风山)1,2,4; Song JL(宋吉来)4; Tang, Chong4; Ma, Zhuang4; Jiang, Lisong4
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| Department | 其他 |
| Conference Name | 2019 Chinese Automation Congress, CAC 2019 |
| Conference Date | November 22-24, 2019 |
| Conference Place | Hangzhou, China |
| Source Publication | Proceedings - 2019 Chinese Automation Congress, CAC 2019 |
| Publisher | IEEE |
| Publication Place | New York |
| 2019 | |
| Pages | 5540-5544 |
| Indexed By | EI |
| EI Accession number | 20201008253159 |
| Contribution Rank | 1 |
| ISBN | 978-1-7281-4094-0 |
| Keyword | quadruped robot dynamics quadratic programm screw theory |
| Abstract | In order to establish the kinematics and dynamics modeling of the quadruped robot, a dynamics modeling approach based on screw theory is demonstrated. Kinematics and the Jacobian matrix of single chain are obtained at first. Then, the dynamic modeling of single chain was established. All the 4 single chains are clustering together, and we get dynamics equation of the quadruped robot. The quadratic program solve an optimal control problem to track linear and angular acceleration of the body as closely as possible under the premise of satisfying a series of constraints of the full quadruped robot dynamics. Lastly, simulations and physical prototype experiment have been done to verify the effectiveness of the proposed method. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/26411 |
| Collection | 其他 |
| Corresponding Author | Liu MM(刘明敏) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences Shenyang, China 3.University of Chinese Academy of Sciences, Beijing, China 4.Shenyang SIASUN Robot & Automation Co. LTD, Shenyang, China |
| Recommended Citation GB/T 7714 | Liu MM,Qu DK,Xu F,et al. Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory[C]. New York:IEEE,2019:5540-5544. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Dynamic Modeling of （751KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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