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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
Department其他
Conference Name2019 Chinese Automation Congress, CAC 2019
Conference DateNovember 22-24, 2019
Conference PlaceHangzhou, China
Source PublicationProceedings - 2019 Chinese Automation Congress, CAC 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages5540-5544
Indexed ByEI
EI Accession number20201008253159
Contribution Rank1
ISBN978-1-7281-4094-0
Keywordquadruped robot dynamics quadratic programm screw theory
AbstractIn 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
Identifierhttp://ir.sia.cn/handle/173321/26411
Collection其他
Corresponding AuthorLiu MM(刘明敏)
Affiliation1.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.
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