Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies

Yan, Wei1; Pan, Yang2; Che, Junjie1; Yu, Jiexian1; Han, Zhuchen1

2021-12-16

10.7717/peerj-cs.821

PEERJ COMPUTER SCIENCE   影响因子和分区

2376-5992

Dynamic locomotion plays a crucial role for legged robots to fulfill tasks in unstructured environments. This paper proposes whole-body kinematic and dynamic modeling method s based on screw theory for a quadruped robot using different gaits and mechanism topologies. Unlike simplified models such as centroid or inverse pendulum models, the methods proposed here can handle 10-dimensional mass and inertia for each part. The only simplification is that foot contact models are treated as spherical joints. Models of three different mechanism topologies are formulated: (1) Standing phase: a system consisting of one end-effector, the body, and four limbs, the legs; (2) Walking phase: a system consisting of one or two lifting legs (depending on the chosen gait), two or three supporting legs; (3) Floating phase: a system in which all legs detach from the ground. Control strategies based on our models are also introduced, which includes walk and trot gait plans. In our control system, two additional types of information are provided: (1) contacting forces are given by force sensors installed under feet; (2) body poses are determined by an inertial measurement unit (IMU). Combined with the sensor data and calibrated mass, inertia, and friction, the joint torque can be estimated accurately in simulation and experiment. Our prototype, the "XiLing" robot, is built to verify the methods proposed in this paper, and the results show that the models can be solved quickly and leads to steady locomotions.

Whole body dynamic Screw theory Quadruped robot Mechanism topologies

SCI ; EI

英语

第一 ; 通讯

Science, Technology, and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]

Computer Science

Computer Science, Artificial Intelligence ; Computer Science, Information Systems ; Computer Science, Theory & Methods

WOS:000734006000003

PEERJ INC

20220911707248

Dynamics ; Embedded systems ; Formal methods ; Intelligent robots ; Inverse problems ; Kinematics ; Real time systems ; Robotics ; Screws ; Topology

Small Tools and Hardware:605 ; Digital Computers and Systems:722.4 ; Computer Programming:723.1 ; Computer Applications:723.5 ; Robotics:731.5 ; Robot Applications:731.6 ; Combinatorial Mathematics, Includes Graph Theory, Set Theory:921.4 ; Mechanics:931.1

Web of Science

1.Southern Univ Sci & Technol, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Dept Mech & Energy Engn, Shenzhen, Peoples R China
2.Southern Univ Sci & Technol, Guangdong Prov Key Lab Human Augmentat & Rehabil, Shenzhen, Peoples R China

Yan, Wei,Pan, Yang,Che, Junjie,et al. Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies[J]. PEERJ COMPUTER SCIENCE,2021,7.

Yan, Wei,Pan, Yang,Che, Junjie,Yu, Jiexian,&Han, Zhuchen.(2021).Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies.PEERJ COMPUTER SCIENCE,7.

Yan, Wei,et al."Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies".PEERJ COMPUTER SCIENCE 7(2021).