Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints

المؤلفون المشاركون

Zhao, Jie
Zhong, Jun
Fan, Jizhuang
Luo, Minzhou

المصدر

Complexity

العدد

المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-14، 14ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2018-09-17

دولة النشر

مصر

عدد الصفحات

14

التخصصات الرئيسية

الفلسفة

الملخص EN

The jumping robot has been a hot research field due to its prominent obstacle-climbing ability and excellent capacity in terrain adaptation and autonomous movement.

However, huge impact between the robot and the ground when landing may cause structure damage, unbalanced movement, and even system crash.

Therefore, trajectory planning of the jumping process has been a great challenge in robotic research, especially for the robot with varying underactuated and redundant joints.

An intermittent jumping quadruped robot driven by pneumatic muscle actuators (PMAs) and owning variable redundant and underactuated joints designed in a previous study is taken as the study object.

This paper divides the problem of trajectory planning into trajectory planning in the centroid space and joint space.

Trajectory planning of different jumping phases in the centroid space adopts the scheme of minimizing the peak reaction force from the ground, then trajectory planning of the joint space is performed obeying the principle of minimizing consumed active torques.

A jumping experiment is performed and validates the effectiveness of the proposed trajectory algorithm.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Zhong, Jun& Luo, Minzhou& Fan, Jizhuang& Zhao, Jie. 2018. Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints. Complexity،Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1134636

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Zhong, Jun…[et al.]. Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints. Complexity No. 2018 (2018), pp.1-14.
https://search.emarefa.net/detail/BIM-1134636

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Zhong, Jun& Luo, Minzhou& Fan, Jizhuang& Zhao, Jie. Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints. Complexity. 2018. Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1134636

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1134636