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RISS 인기검색어
- 검색키워드
- 저자 : Jiuhong Ruan (검색결과 2 건)
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Planning and Execution of Dynamic Whole-body Locomotion for a Wheeled Biped Robot on Uneven Terrain
Yaxian Xin,Jiuhong Ruan,Yibin Li,Hui Chai,Xuewen Rong 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
To improve the adaptability of the wheeled biped robot (WBR) to uneven terrain, firstly an integrated modeling method for wheeled-legs is proposed. The under-actuated part is effectively restrained by defining the interaction force between the WBR and the trunk. The mapping relationship between the wheeled leg’s end force and the joint torques in the balanced state is built. Based on this premise, a control framework that does not rely on external sensors is proposed, and the trunk pose is used as the task space to plan the generalized force output of the wheeled legs and calculate the joint torques. Since the joint space position is not constrained, the leg wheels will be based on the terrain conditions and are adaptively stretched and adjusted back and forth. To further improve the terrain adaptability, a slope estimator and a stabilizer are constructed to deal with the attitude fluctuation caused by the sudden change of terrain. The control framework is proved to verify by simulations and experiment.
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Design and simulation for a hydraulic actuated quadruped robot
Xuewen Rong,Yibin Li,Jiuhong Ruan,Bin Li 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.4
This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line,which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders.
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