| 题名 | A Novel Bio-Inspired Quadruped Crawling Robot with Movable Waist |
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| DOI | |
| 发表日期 | 2024-06-26
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| ISBN | 979-8-3503-9597-6
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| 会议录名称 | |
| 会议日期 | 23-26 June 2024
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| 会议地点 | Chicago, IL, USA
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| 摘要 | Traditional quadruped robots usually have rigid and fixed torso, which limits their mobility and flexibility. Robots with movable waist can improve the flexibility and environmental adaptability of robots. In this paper, a novel bionic crawling robot with movable waist is proposed. The movable waist innovatively adopts an anti-parallelogram mechanism. At the same time, the waist adopts a double-layer structure design to increase the stability and bearing capacity of the robot. The kinematics model of the robot is derived based on the D-H parameter method. Bas ed on the Monte Carlo method, the toe workspace of the leg is obtained in Matlab software. The results show that due to the torsion of the movable waist, the toe workspace is significantly expanded, and the robot can achieve faster and smoother motion. A prototype was made based on 3D printing technology for experimental verification. |
| 学校署名 | 其他
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| 相关链接 | [IEEE记录] |
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| 引用统计 | |
| 成果类型 | 会议论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/803323 |
| 专题 | 南方科技大学 |
| 作者单位 | 1.The School of Mechanical Engineering, Hebei University of Technology, Tianjin, China 2.School of Mechanical Engineering, Hebei University of Technology, Tianjin, China 3.The Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China 4.Mechanisms and Robotics, Centre for Robotics Research, King's College, London, UK |
| 推荐引用方式 GB/T 7714 |
Ruiqin Wang,Hao Wu,Jian S. Dai. A Novel Bio-Inspired Quadruped Crawling Robot with Movable Waist[C],2024.
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| 条目包含的文件 | 条目无相关文件。 | |||||
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