Research on coupling dynamics and coordinated control of a legged robot

Research on coupling dynamics and coordinated control of a legged robot

This article develops a coupling dynamic method focusing on the coupling relationship between the leg and the body of a legged robot. The dynamic equation of the method reflects the mechanism between an active operating part and a passive moving part among a multibody system. It is used to adjust th...

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Veröffentlicht in:Journal of vibration and control 2021-10, Vol.27 (19-20), p.2385-2399
Hauptverfasser: Chen, Zhengcang, Yang, Chaoyue, Shen, Jianjun, Jia, Feng
Format: Artikel
Sprache:eng
Schlagworte:
Control tasks
Coupling
Dynamic models
Mathematical analysis
Multibody systems
Posture
Robot control
Robots
Rollover
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container_end_page 2399
container_issue 19-20
container_start_page 2385
container_title Journal of vibration and control
container_volume 27
creator Chen, Zhengcang
Yang, Chaoyue
Shen, Jianjun
Jia, Feng
description This article develops a coupling dynamic method focusing on the coupling relationship between the leg and the body of a legged robot. The dynamic equation of the method reflects the mechanism between an active operating part and a passive moving part among a multibody system. It is used to adjust the position and posture of the body by driving the motion of the joint of the leg, thereby solving problems such as rollover or overturning of the body during its walking or running. Because the robot has enough redundant degrees of freedom, we can design other additional constraints to achieve coordinated control of the robot. The developed dynamic modeling method is applied for two control tasks. By the results of numerical simulations, the effectiveness of this method is verified.
doi_str_mv 10.1177/1077546320960879
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subjects Control tasks
Coupling
Dynamic models
Mathematical analysis
Multibody systems
Posture
Robot control
Robots
Rollover
title Research on coupling dynamics and coordinated control of a legged robot
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