TY - GEN
T1 - Design and Analysis of a Metamorphic Quadruped Robot
AU - Xu, Kun
AU - Ma, Hanxin
AU - Chen, Jiawei
AU - Zhang, Wuxiang
AU - Deng, Huichao
AU - Ding, Xilun
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/28
Y1 - 2018/8/28
N2 - Leg of robots predominantly adopts two types of configurations, insect-like configuration and mammal-like configuration. This paper presents a metamorphic quadruped robot whose leg possesses 4 degrees of freedom and can transfer to insect-like configuration and mammal-like configuration. The robot has 4 types of configurations, insect-like, reptile-like, mammal-like I and mammal-like II configurations. It skillfully combines two types of traditional configurations by well-founded mechanical structure design. Furthermore, gait transformation strategy between these four configurations on the basis of minimum torque and maximum stability was studied. And the workspace of the leg under different configurations is analyzed. The metamorphic quadruped robot possesses the advantage of controllably choosing optimal configuration to walk according to different terrain environment and mission requirement.
AB - Leg of robots predominantly adopts two types of configurations, insect-like configuration and mammal-like configuration. This paper presents a metamorphic quadruped robot whose leg possesses 4 degrees of freedom and can transfer to insect-like configuration and mammal-like configuration. The robot has 4 types of configurations, insect-like, reptile-like, mammal-like I and mammal-like II configurations. It skillfully combines two types of traditional configurations by well-founded mechanical structure design. Furthermore, gait transformation strategy between these four configurations on the basis of minimum torque and maximum stability was studied. And the workspace of the leg under different configurations is analyzed. The metamorphic quadruped robot possesses the advantage of controllably choosing optimal configuration to walk according to different terrain environment and mission requirement.
KW - gait transformation strategy
KW - metamorphic configuration
KW - quadruped robot
UR - https://www.scopus.com/pages/publications/85053921541
U2 - 10.1109/REMAR.2018.8449848
DO - 10.1109/REMAR.2018.8449848
M3 - 会议稿件
AN - SCOPUS:85053921541
SN - 9781538663806
T3 - 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
BT - 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
A2 - Herder, Just L.
A2 - van der Wijk, Volkert
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018
Y2 - 20 June 2018 through 22 June 2018
ER -