| Lei Jingtao（雷静桃）,Yu Huangying.[J].高技术通讯(英文),2015,21(3):245~252 |
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| Study on the musculoskeletal body for quadruped robots with spinning gait |
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| DOI：10.3772/j.issn.1006-6748.2015.03.001 |
| 中文关键词: |
| 英文关键词: quadruped robot, musculoskeletal body, spinning gait, flexible spine, pneumatic artificial muscles (PAMs) |
| 基金项目: |
| Author Name | Affiliation | | Lei Jingtao（雷静桃） | | | Yu Huangying | |
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| 中文摘要: |
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| 英文摘要: |
| The walking creatures’ athletic ability is related to their body’s musculoskeletal system. A kind of musculoskeletal body for quadruped robots is developed, which will be used to assist the leg mechanism to achieve spinning gait in order to improve the robot mobility in unstructured environment. A bionic-flexible-spine model driven by pneumatic artificial muscles (PAMs) is proposed. Because the body has the flexible property, the robot can achieve spinning gait quickly, which is similar to walking creatures by coordinated movement between body bending and legs side-swing. The kinematics of the bending of the musculoskeletal body and side-swing of leg mechanism of quadruped robot for spinning gait are studied. According to the stability analysis of spinning gait, the relationship between body bending angle and leg swing angle can be determined. The PID controller is designed to conduct the bending experiment, and the bending characteristic of the musculoskeletal body is studied. Experimental results show that the biggest bending angle of the musculoskeletal body can reach 30°. |
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