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Implementation and dynamic gait planning of a quadruped bionic robot

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  • Robot and Applications
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Abstract

This paper investigates dynamic gait planning optimization and balance control of quadruped robots under external disturbance forces. First, a platform of quadruped walking robot with fourteen active degrees of freedom is designed. Then, a forward kinematic model of joints is built for quadruped robots based on Denavit-Hartenberg(D-H) method. The inverse kinematic equations are solved to result in joint values when the desired position and orientation are specified. A dynamic gait planning algorithm is proposed and tested on the quadruped robot. The planning function is established to create some point-to-point trajectories. The angle values of the joints can be calculated by using the inverse kinematics equations for every moment. Considering the external distribution a balance control approach is proposed to stabilize the robot based on the information from the attitude sensors. The walking is stabilized by a feedback control that uses a three-axis acceleration sensor. Experiments have been performed on the quadruped robot. The results showed that the proposed methods work well in dynamic gait planning and external disturbances of a quadruped bionic robot.

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Author information

Authors and Affiliations

  1. School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai, 180 Wenhua Xilu, Weihai, China

    Song Yong, Chen Teng, Hao Yanzhe & Wang Xiaoli

  2. School of Control Science and Engineering, Shandong University, 17923 Jingshi Road, Jinan, China

    Chen Teng & Hao Yanzhe

Authors
  1. Song Yong
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  2. Chen Teng
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  3. Hao Yanzhe
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  4. Wang Xiaoli
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Corresponding author

Correspondence to Wang Xiaoli.

Additional information

Recommended by Associate Editor Sukho Park under the direction of Editor Hyun-Seok Yang. This work is supported by the National Natural Science Foundation of China (61573213, 61673245, 61473179, 61473174), Natural Science Foundation of Shandong Province (ZR2015PF009, ZR2014FM007), Shandong Province Science and Technology Development Program (2014GGX103038), and Special Technological Program of Transformation of Initiatively Innovative Achievements in Shandong Province (2014ZZCX04302).

Song Yong received the B.S. degree in Control Science from Shandong University, Weihai in 2001. He received the M.S. and Ph.D. degrees in Pattern Recognition and Intelligent System from Shandong University, in 2008 and 2012, respectively. He is currently an Associate Professor at the School of Mechanical, Electrical & Information Engineering,Shandong University atWeihai. His current research interests include Robot Control, Machine Learning, and Swarm Intelligence Robotics.

Chen Teng received the B.S. degree in Control Theory and Control Engineering from Shandong University, Weihai in 2015. He is currently a Ph.D. candidate at the School of Control Science and Engineering, Shandong University. His research interests include Special Robot, Robot control, and Machine Learning.

Hao Yanzhe received the B.S. degree in Control Theory and Control Engineering from Shandong University, Weihai in 2015. He is currently a M.S. candidate at the School of Control Science and Engineering, Shandong University. His research interests include Robot Navigation, Machine Learning and Multi-robot Cooperation.

Wang Xiaoli received the B.S. and M.S. degrees in Electrical Engineering from Shandong University, Weihai, in 2002 and 2009. He is currently a Senior Experimentalist at the School of Mechanical, Electrical & Information Engineering,Shandong University at Weihai. His current research interests include Signal and Information Processing and System Identification.

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Yong, S., Teng, C., Yanzhe, H. et al. Implementation and dynamic gait planning of a quadruped bionic robot. Int. J. Control Autom. Syst. 15, 2819–2828 (2017). https://doi.org/10.1007/s12555-016-0540-6

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  • DOI: https://doi.org/10.1007/s12555-016-0540-6

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