Research on Dynamic Modeling Method and Flying Gait Characteristics of Quadruped Robots with Flexible Spines
Source abstract
Abstract
In recent years, both domestic and international research on quadruped robots has advanced towards high dynamics and agility, with a focus on high-speed locomotion as a representative motion in high-dynamic activities. Quadruped animals like cheetahs exhibit high-speed running capabilities, attributed to the indispensable role played by their flexible spines during the flight phase motion. This paper establishes dynamic models of flexible spinal quadruped robots with different degrees of simplification, providing a parameterized description of the flight phase motion for both rigid-trunk and flexible-spine quadruped robots. By setting different initial values for the spine joint and calculating the flight phase results for both types of robots at various initial velocities, the study compares and analyzes the impact of a flexible spine on the flight phase motion of quadruped robots. Through comparative experiments, the research aims to validate the influence of a flexible spine during the flight phase motion, providing insights into how spine flexibility affects the flight phase motion of quadruped robots.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Locomotion and Control · Winter Sports Injuries and Performance · Control and Dynamics of Mobile Robots
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
Funding
STI 2030
References (26)
Show source-provided references
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