Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory

	Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory
	Liu MM(刘明敏)2,3,4; Qu DK(曲道奎)1,2,3; Xu F(徐方)1,2,3; Zou FS(邹风山)1,2,3; Song JL(宋吉来)1; Tang, Chong 1; Ma, Zhuang 1; Jiang, Lisong 1
	2019
会议日期	November 22-24, 2019
会议地点	Hangzhou, China
关键词	quadruped robot dynamics quadratic programm screw theory
页码	5540-5544
英文摘要	In order to establish the kinematics and dynamics modeling of the quadruped robot, a dynamics modeling approach based on screw theory is demonstrated. Kinematics and the Jacobian matrix of single chain are obtained at first. Then, the dynamic modeling of single chain was established. All the 4 single chains are clustering together, and we get dynamics equation of the quadruped robot. The quadratic program solve an optimal control problem to track linear and angular acceleration of the body as closely as possible under the premise of satisfying a series of constraints of the full quadruped robot dynamics. Lastly, simulations and physical prototype experiment have been done to verify the effectiveness of the proposed method.
产权排序	1
会议录	Proceedings - 2019 Chinese Automation Congress, CAC 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-4094-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26411]
专题	沈阳自动化研究所_其他
通讯作者	Liu MM(刘明敏)
作者单位	1.Shenyang SIASUN Robot & Automation Co. LTD, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences Shenyang, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, China 4.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式 GB/T 7714	Liu MM,Qu DK,Xu F,et al. Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory[C]. 见:. Hangzhou, China. November 22-24, 2019.