Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot
Joint Authors
Chen, Mingfang
Zhang, Yongxia
Chen, Hao
Wang, Xuejun
Yu, JiangXuan
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-05-22
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
In order to solve the defects of the large inertia and control difficulty of the electrically driven quadruped legs of robots, a novel leg structure and a control method are proposed in this paper.
In terms of structure, the motor of the knee is arranged in the body of the robot to reduce the weight of the legs.
In addition, this paper improves the PVT difference control algorithm embedded in the PMAC controller.
Using the nonlinear control principle of the U-model, the optimized segmented Hermite difference method is used to implement the planning of the foot trajectory of the quadruped robot.
Simulation and experiment show that the leg structure design is reasonable and the improved interpolation algorithm has good control effect.
American Psychological Association (APA)
Chen, Mingfang& Chen, Hao& Wang, Xuejun& Yu, JiangXuan& Zhang, Yongxia. 2020. Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1194772
Modern Language Association (MLA)
Chen, Mingfang…[et al.]. Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot. Mathematical Problems in Engineering No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1194772
American Medical Association (AMA)
Chen, Mingfang& Chen, Hao& Wang, Xuejun& Yu, JiangXuan& Zhang, Yongxia. Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1194772
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194772