Paper Info
Title
Design And Analysis Of Quadruped Robot Leg With Variable Configuration
Abstract
Conventional legs for quadruped robot are facing problems such as heavy load and high energy consumption of motors. To address this challenge, this paper presents a quadruped robot leg with variable joint configuration and introduces the optimization design method of this leg. The leg can change the joint configuration during the motion of robot, which could help motors adapt ground reaction force more reasonably. The simulation results show that compared with typical leg structures, the variable configuration leg can theoretically reduce the peak torque and the energy consumption of motor to a certain extent, which might provide a possible solution for this problem.
Year
DOI
Venue
2018
10.1109/ROBIO.2018.8665132
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
Keywords
Field
DocType
Quadruped robot, electric drive, leg structure, joint configuration
Torque,Coupling,Robot leg,Control theory,Ground reaction force,Engineering,Robot,Energy consumption,High energy
Conference
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Tianqi Yue100.34
Kui Sun2186.49
chuangqiang guo3142.70
Hong Liu450279.68