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- W4200303516 abstract "Dynamic locomotion plays a crucial role for legged robots to fulfill tasks in unstructured environments. This paper proposes whole-body kinematic and dynamic modeling method s based on screw theory for a quadruped robot using different gaits and mechanism topologies. Unlike simplified models such as centroid or inverse pendulum models, the methods proposed here can handle 10-dimensional mass and inertia for each part. The only simplification is that foot contact models are treated as spherical joints. Models of three different mechanism topologies are formulated: (1) Standing phase: a system consisting of one end-effector, the body, and four limbs, the legs; (2) Walking phase: a system consisting of one or two lifting legs (depending on the chosen gait), two or three supporting legs; (3) Floating phase: a system in which all legs detach from the ground. Control strategies based on our models are also introduced, which includes walk and trot gait plans. In our control system, two additional types of information are provided: (1) contacting forces are given by force sensors installed under feet; (2) body poses are determined by an inertial measurement unit (IMU). Combined with the sensor data and calibrated mass, inertia, and friction, the joint torque can be estimated accurately in simulation and experiment. Our prototype, the “XiLing” robot, is built to verify the methods proposed in this paper, and the results show that the models can be solved quickly and leads to steady locomotions." @default.
- W4200303516 created "2021-12-31" @default.
- W4200303516 date "2021-12-16" @default.
- W4200303516 modified "2023-09-28" @default.
- W4200303516 title "Figure 12: Various postures of the prototype in standing." @default.
- W4200303516 doi "https://doi.org/10.7717/peerj-cs.821/fig-12" @default.
- W4200303516 hasPublicationYear "2021" @default.
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