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首页> 外文会议>2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics >Development of quadruped robot “HUNTER” and simulation of its dynamic gaits
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Development of quadruped robot “HUNTER” and simulation of its dynamic gaits

机译：四足机器人“ HUNTER”的开发及其动态步态的仿真

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This paper introduces the quadruped robot called HUNTER (Hanyang UNiversity TEtrapod Robot), its control and dynamic simulation of trot gait. HUNTER has three active joints and two passive spring joints at each leg. The design of this leg is based on the biological analysis of a typical 4 legged-animal, a dog. Passive joints on the legs are designed to reduce the ground impact when they land on the ground and to be able to store and reuse the energy with use of springs. All the design parameters of the structure as well as actuators are selected based on its dynamic simulations. In this work, the results of simulating the dynamic trots are also described.
机译：本文介绍了四足机器人HUNTER（汉阳大学四脚架机器人）及其对小步态的控制和动态仿真。 HUNTER在每条腿上都有三个主动接头和两个被动弹簧接头。这条腿的设计基于对典型的四足动物狗的生物学分析。支腿上的被动接头旨在减少当它们降落在地面上时对地面的影响，并能够使用弹簧来存储和再利用能量。结构的所有设计参数以及执行器均基于其动态仿真进行选择。在这项工作中，还描述了模拟动态小跑的结果。

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