Structural Design and Gait Simulation of Bionic Quadruped Robot

In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The kinematic equation of legs is established through motion analysisJoint angle functions are solved by inverse kinematics employing legs phases in typi...

Full description

Saved in:
Bibliographic Details
Published inInternational Conference on Advanced Mechatronic Systems pp. 16 - 20
Main Authors Dexin Liu, Mingming Sun, Dianwei Qian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2018
Subjects
bionic quadruped robot
Foot
gait planning
Hip
hydraulic cylinders
Knee
Legged locomotion
Mathematical model
Robot kinematics
toe trajectory
Online AccessGet full text
ISSN2325-0690
DOI10.1109/ICAMechS.2018.8507037

Cover

Abstract In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The kinematic equation of legs is established through motion analysisJoint angle functions are solved by inverse kinematics employing legs phases in typical gait planning and the displacement for rods of hydraulic cylinders by mechanism. The toe trajectory is calculated to ensures the smoothness of the robot moving. Experimental results show that the robot walks stably on the even surface, the undulation of body has small amplitude, and the design of prototype is rational and efficient.
AbstractList In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The kinematic equation of legs is established through motion analysisJoint angle functions are solved by inverse kinematics employing legs phases in typical gait planning and the displacement for rods of hydraulic cylinders by mechanism. The toe trajectory is calculated to ensures the smoothness of the robot moving. Experimental results show that the robot walks stably on the even surface, the undulation of body has small amplitude, and the design of prototype is rational and efficient.
Author Mingming Sun
Dianwei Qian
Dexin Liu
Author_xml – sequence: 1
  surname: Dexin Liu
  fullname: Dexin Liu
  email: liudexin@buu.edu.cn
  organization: Coll. of Robot., Beijing Union Univ., Beijing, China
– sequence: 2
  surname: Mingming Sun
  fullname: Mingming Sun
  email: sunmingming@ustb.edu.cn
  organization: Basic Exp. Center for Natural Sci., Univ. of Sci. & Technol. Beijing, Beijing, China
– sequence: 3
  surname: Dianwei Qian
  fullname: Dianwei Qian
  email: dianwei.qian@ncepu.edu.cn
  organization: Sch. of Control & Comput. Eng., North China Electr. Power Univ., Beijing, China
BookMark eNotj9FKwzAUhqMouM09gQh5gdaTpO05uRLddAoT0er1SJtUI1062vTCt7fgrr6bn4__m7Oz0AXH2LWAVAjQN8-ruxdXf5epBEEp5YCg8ITNRa6oQIGZOmUzqWSeQKHhgi2H4QcAhM6BCGbstoz9WMexNy1fu8F_BW6C5RvjIy_9fmxN9F3gXcPvJ_qav43G9uPBWf7eVV28ZOeNaQe3PHLBPh8fPlZPyfZ1M33bJl5gHhPUymRUoVE2I1VZJWsqZCMcEpFzDtBlhFJXhI4sFMKCVrKQBshAjUIt2NW_10_r3aH3e9P_7o696g-F_Es8
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/ICAMechS.2018.8507037
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 1538671743
9781538671740
EISSN 2325-0690
EndPage 20
ExternalDocumentID 8507037
Genre orig-research
GroupedDBID 6IE
6IF
6IK
6IL
6IN
AAJGR
AAWTH
ABLEC
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
IPLJI
M43
OCL
RIE
RIL
ID FETCH-LOGICAL-i175t-793a48b7a3d483bd32c862f1e7888eee07e48729b87e8d061d093262a08a0c713
IEDL.DBID RIE
IngestDate Wed Aug 27 02:49:32 EDT 2025
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i175t-793a48b7a3d483bd32c862f1e7888eee07e48729b87e8d061d093262a08a0c713
PageCount 5
ParticipantIDs ieee_primary_8507037
PublicationCentury 2000
PublicationDate 2018-Aug.
PublicationDateYYYYMMDD 2018-08-01
PublicationDate_xml – month: 08
  year: 2018
  text: 2018-Aug.
PublicationDecade 2010
PublicationTitle International Conference on Advanced Mechatronic Systems
PublicationTitleAbbrev ICAMechS
PublicationYear 2018
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0001950880
Score 1.7157851
Snippet In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The...
SourceID ieee
SourceType Publisher
StartPage 16
SubjectTerms bionic quadruped robot
Foot
gait planning
Hip
hydraulic cylinders
Knee
Legged locomotion
Mathematical model
Robot kinematics
toe trajectory
Title Structural Design and Gait Simulation of Bionic Quadruped Robot
URI https://ieeexplore.ieee.org/document/8507037
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3JTsMwEB21PcGFpUXs8oEjSV1nsXOEQilIRUCp1FvlLSJCJBVKLnw9thNaQBy4RZEiO56JZsl7bwDOWBgQJZn0YhlRL4x54gnLApEkkSmPU-MDDuV7H49n4d08mrfgfMWF0Vo78Jn27aX7l68KWdlWWZ9F1kFpG9rGzWqu1rqf4saZ4oakM8BJ_3Z4MdHyZWrxW8xvnv0xRMXFkNEWTL5Wr6Ejr35VCl9-_BJm_O_2tqG3Zuuhh1Uc2oGWzndh85vQYNek5E4m1kpsoCuH2UA8V-iGZyWaZm_NCC9UpOjS9mcleqy4eq-WWqGnQhRlD2aj6-fh2GtGJ3iZyQdKz3x1PGSC8kCFLBAqINKULulA24rXbBxTbSoVkghGNVMmpitsEznCMeNYmsJ1Dzp5ket9QFoIqghLEx5YNbeIYx6mMSUykdiYkh9A1x7FYlmrYyyaUzj8-_YRbFhz1BC6Y-iYt9cnJqyX4tTZ8xO8oKGc
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LT8JAEJ4gHtSLDzC-3YNHW5Y-t0dFERSICiTcyL4aG2NLTHvx17u7raDGg7dmk6abmW2-mdlvvgG4IJ7rCE64FXA_tLyARhbTXSDciXhMg1idAcPyHQW9qXc_82c1uFz2wkgpDflM2vrR3OWLjBe6VNYivj6g4RqsK9z3_LJba1VRMQNNcdWm08ZRq9-5Gkr-MtYMLmJXb_8Yo2JQpLsNw6_vl-SRV7vImc0_fkkz_neDO9Bc9euhxyUS7UJNpnuw9U1qsKGCciMUq0U20I1hbSCaCnRHkxyNk7dqiBfKYnStK7QcPRVUvBcLKdBzxrK8CdPu7aTTs6rhCVaiIoLcUv8d9QgLqSs84jLhOlwlL3Fb6pxXbRyHUuUqTsRIKIlQqC6wDuUcignFXKWu-1BPs1QeAJKMhcIhcURdrefmU0y9OAgdHnGsnEkPoaFNMV-U-hjzygpHfy-fw0ZvMhzMB_3RwzFsateUhLoTqCtLyFMF8jk7M779BGT6pOk
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=proceeding&rft.title=International+Conference+on+Advanced+Mechatronic+Systems&rft.atitle=Structural+Design+and+Gait+Simulation+of+Bionic+Quadruped+Robot&rft.au=Dexin+Liu&rft.au=Mingming+Sun&rft.au=Dianwei+Qian&rft.date=2018-08-01&rft.pub=IEEE&rft.eissn=2325-0690&rft.spage=16&rft.epage=20&rft_id=info:doi/10.1109%2FICAMechS.2018.8507037&rft.externalDocID=8507037