Abstract
This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders.
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Video information about quadruped robot from the website of the Robotics Research Center of Shandong University. http://www.sucro.org/ShowNews.asp?id=3782.
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Recommended by Associate Editor Sangyoon Lee
Xuewen Rong received his Bachelor and Master’s degrees from Shandong University of Science and Technology, China, in 1996 and 1999, respectively. He is currently a senior engineer and a graduate student of the PhD course also in the School of Control Science and Engineering, Shandong University, China. His research interests include robotics, mechatronics, and hydraulic servo driving technology.
Yibin Li received his Bachelor and Doctoral degrees from Tianjin University, China, in 1982 and 2006, respectively. He received his Master’s degree from Shandong University of Science and Technology, China, in 1988. He is currently a professor and associate dean in the School of Control Science and Engineering, Shandong University, China. His research interests include robotics, mechatronics, intelligent control, and intelligent vehicles.
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Rong, X., Li, Y., Ruan, J. et al. Design and simulation for a hydraulic actuated quadruped robot. J Mech Sci Technol 26, 1171–1177 (2012). https://doi.org/10.1007/s12206-012-0219-8
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DOI: https://doi.org/10.1007/s12206-012-0219-8