Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory
文献类型：会议论文
| 作者 | Liu MM(刘明敏)1,2,3 ; Qu DK(曲道奎)1,2,4; Xu F(徐方)1,2,4; Zou FS(邹风山)1,2,4; Song JL(宋吉来)4; Tang, Chong4; Ma, Zhuang4; Jiang, Lisong4
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| 出版日期 | 2019 |
| 会议日期 | November 22-24, 2019 |
| 会议地点 | Hangzhou, China |
| 关键词 | quadruped robot dynamics quadratic programm screw theory |
| 页码 | 5540-5544 |
| 英文摘要 | In order to establish the kinematics and dynamics modeling of the quadruped robot, a dynamics modeling approach based on screw theory is demonstrated. Kinematics and the Jacobian matrix of single chain are obtained at first. Then, the dynamic modeling of single chain was established. All the 4 single chains are clustering together, and we get dynamics equation of the quadruped robot. The quadratic program solve an optimal control problem to track linear and angular acceleration of the body as closely as possible under the premise of satisfying a series of constraints of the full quadruped robot dynamics. Lastly, simulations and physical prototype experiment have been done to verify the effectiveness of the proposed method. |
| 产权排序 | 1 |
| 会议录 | Proceedings - 2019 Chinese Automation Congress, CAC 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-4094-0 |
| 源URL | [http://ir.sia.cn/handle/173321/26411]  |
| 专题 | 沈阳自动化研究所_其他 |
| 通讯作者 | Liu MM(刘明敏) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences Shenyang, China 3.University of Chinese Academy of Sciences, Beijing, China 4.Shenyang SIASUN Robot & Automation Co. LTD, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Liu MM,Qu DK,Xu F,et al. Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory[C]. 见:. Hangzhou, China. November 22-24, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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