Bionic mechanism and kinetic characteristic for quadruped robot dog

机译：四足机器人狗的仿生机理和动力学特性

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Taking the dog for prototype, this paper mainly study the bionic mechanism and kinetic characteristic for quadruped robot dog. Inspired from the physical structure and movement patterns of mammals, establish the model of quadruped robot dog with scapula and biarticular muscle which has the characteristics of bionic structure and simple control. Combined with the foot motion characteristics of mammals, use interpolation method to fit the trajectory curve of foot and achieve the mapping form foot Cartesian space to joint space through the kinematic analysis. Apply the joint angle relationship to carry out the motion simulation under the environment of ADAMS. It is proved that the feasibility of the bionic mechanism which uses the bionic gait and it makes the foundation for designing the bionic mechanism of quadruped robot dog with compliant structure.

机译：本文以狗为原型，主要研究了四足机器人狗的仿生机理和动力学特性。从哺乳动物的身体结构和运动方式出发，建立具有肩ionic骨和双关节肌肉的四足机器人狗模型，该模型具有仿生结构且控制简单的特点。结合哺乳动物的脚运动特征，采用插值法拟合脚的轨迹曲线，通过运动学分析，实现了脚笛卡尔空间到关节空间的映射。应用关节角度关系在ADAMS环境下进行运动仿真。证明了利用仿生步态的仿生机制的可行性，为设计具有柔顺结构的四足机器人狗的仿生机制奠定了基础。

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来源
《Fifth Asia International Symposium on Mechatronics》|2015年|1-5|共5页
会议地点 Guilin(CN)
作者
Y. G. Tan; Z. Li; Y. H. Chen; H. Wang;
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作者单位

Shool of Mechanical and Electronic Engineering, Wuhan University of Technology, Hubei, 430070, China;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Bionic mechanism; Gait characteristics; Interpolation method; Quadruped Robot Dog; Trajectory planning;

机译：仿生机理步态特性内插法四足机器人狗轨迹规划;

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Bionic mechanism and kinetic characteristic for quadruped robot dog

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