Dynamic Analysis and Designing a Dynamic Based Control Algorithm for Legged Quadruped Robot Locomotion

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

ABDI H.; Shaker Arani M.J.; SALARIEH H.; Kakaei M.M.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2019 | Volume:19 | Issue:11 Page(s): 2635-2644

Download Full-Text

Persian Verion

View:

382

Download:

Cites:

Information Journal Paper

Title

Dynamic Analysis and Designing a Dynamic Based Control Algorithm for Legged Quadruped Robot Locomotion

Author(s)

ABDI H. | Shaker Arani M.J. | SALARIEH H. | Kakaei M.M. | Issue Writer Certificate

Keywords

Quadruped RobotQ1

Dynamic Based AlgorithmQ1

TrotQ1

PaceQ1

Dynamic Modeling By Lagrange MethodQ1

Abstract

In this study, a dynamic based control algorithm for six-link quadruped locomotion is proposed. Up to now, a lot of researches have been conducted in the field of quadruped locomotion but most of the researches are based on the detailed modeling of a robot and its surrounding. Such methods are not able to generate a stable locomotion when the surrounding changes. However, the main characteristic of vertebral motion is the adaptability of their motions. So this is important to propose a control algorithm based on the robot dynamics. The algorithms that can guarantee the stability are classified to two categories of dynamic based and trajectory based methods. The trajectory based algorithms need detailed information about gait which is not necessarily available. But the Dynamic Based Algorithms use some geometric constraints to reach a stabilizer controller. These geometric constraints generate the proper gaits. So in this study by employing the dynamic based control algorithm, we proposed a controller for generating the Trot and Pace gait on a straight and flat path for Quadruped Robot locomotion. Given that the Quadruped Robot has four degrees of freedom, three geometric constraints are needed to provide rhythmic locomotion. In this study, the stability of quadruped locomotion has been proved using the Poincaré return map.

Cites

No record.

References

No record.

Cite

APA: Copy

ABDI, H., Shaker Arani, M.J., SALARIEH, H., & Kakaei, M.M.. (2019). Dynamic Analysis and Designing a Dynamic Based Control Algorithm for Legged Quadruped Robot Locomotion. MODARES MECHANICAL ENGINEERING, 19(11 ), 2635-2644. SID. https://sid.ir/paper/178358/en

Vancouver: Copy

ABDI H., Shaker Arani M.J., SALARIEH H., Kakaei M.M.. Dynamic Analysis and Designing a Dynamic Based Control Algorithm for Legged Quadruped Robot Locomotion. MODARES MECHANICAL ENGINEERING[Internet]. 2019;19(11 ):2635-2644. Available from: https://sid.ir/paper/178358/en

IEEE: Copy

H. ABDI, M.J. Shaker Arani, H. SALARIEH, and M.M. Kakaei, “Dynamic Analysis and Designing a Dynamic Based Control Algorithm for Legged Quadruped Robot Locomotion,” MODARES MECHANICAL ENGINEERING, vol. 19, no. 11 , pp. 2635–2644, 2019, [Online]. Available: https://sid.ir/paper/178358/en

Related Journal Papers