Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot.

Journal: Sensors (Basel, Switzerland)
Published Date:

Abstract

The rapid change of motion direction during running is beneficial to improving the movement flexibility of the quadruped robot, which is of great relevance to its research. How to make the robot change its motion direction during running and achieve good dynamic stability is a problem to be solved. In this paper, a method to change the running direction of the cheetah-inspired quadruped robot is proposed. Based on the analysis of the running of the cheetah, a dynamic model of the quadruped robot is established, and a two-level stability index system, including a minimum index system and a range index system, is proposed. On this basis, the objective function based on the stability index system and optimization variables, including leg landing points, trunk movement trajectory, and posture change rule, are determined. Through these constraints, the direction changes with good dynamic stability of the cheetah-inspired quadruped robot during running is realized by controlling the leg parameters. The robot will not roll over during high-speed movement. Finally, the correctness of the proposed method is proven by simulation. This paper provides a theoretical basis for the quadruped robot's rapid change of direction in running.

Authors

  • Meng Ning
    Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Jiangnan University, Wuxi, China.
  • Jun Yang
    Cardiovascular Endocrinology Laboratory, Hudson Institute of Medical Research, Clayton, Victoria, Australia; Department of Medicine, Monash University, Clayton, Victoria, Australia.
  • Ziqiang Zhang
    Department of Digestive Diseases, Huashan Hospital, Fudan University, Shanghai 200040, P.R. China.
  • Jun Li
    Department of Emergency, Zhuhai Integrated Traditional Chinese and Western Medicine Hospital, Zhuhai, 519020, Guangdong Province, China. quanshabai43@163.com.
  • Zhi Wang
    Department of Pharmacy, The Second Affiliated Hospital of Nanjing Medical University, Nanjing, China.
  • Longxing Wei
    Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment & Technology, School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China.
  • Pengjin Feng
    Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment & Technology, School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China.