Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot.

ABSTRACT: The rapid change of motion direction during running is beneficial to improving the movement flexibility of the quadruped robot, which is of great relevance to its research. How to make the robot change its motion direction during running and achieve good dynamic stability is a problem to be solved. In this paper, a method to change the running direction of the cheetah-inspired quadruped robot is proposed. Based on the analysis of the running of the cheetah, a dynamic model of the quadruped robot is established, and a two-level stability index system, including a minimum index system and a range index system, is proposed. On this basis, the objective function based on the stability index system and optimization variables, including leg landing points, trunk movement trajectory, and posture

SUBMITTER: Ning M 

PROVIDER: S-EPMC9784248 | biostudies-literature | 2022 Dec

REPOSITORIES: biostudies-literature