Mobile robots raised much interest in recent years due to their maneuverability in complicated environments. A novel quadruped robot which has a changeable waist and possess new gaits is introduced. Based on the kinematics model, the reconfigurable waist of the novel metamorphic quadruped robot is analyzed and the body configuration switching rules are proposed. The reachable area of robot leg is compared with a normal quadruped of a rigid waist. Taking waist action into consideration, two novel gaits, i.e. twisting forward gait and spinning gait, are designed and their processes are described. To demonstrate advantages of the metamorphic waist, stability margin of a rigid-body gait and that of the reconfigurable-body gait are compared, the minimum size of a narrow corner for the robot to walk through is calculated and the constraints to achieve the smooth motion of the visual point and center of gravity of body (COG) are analyzed.
ZHEN Weikun
,
KANG Xi
,
ZHANG Xinsheng
,
DAI Jiansheng
. Gait Planning of a Novel Metamorphic Quadruped Robot[J]. Journal of Mechanical Engineering, 2016
, 52(11)
: 26
-33
.
DOI: 10.3901/JME.2016.11.026
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