Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot
Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot
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DOI：
10.1007/978-3-319-78963-7_41
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Zewen He;Fei Meng;Huaxin Liu;Lei Wang;Zhu Xin;Xuxiao Fan;Ryuki Sato;A. Ming;Qiang Huang
中科院分区：
文献类型：
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作者：
Zewen He;Fei Meng;Huaxin Liu;Lei Wang;Zhu Xin;Xuxiao Fan;Ryuki Sato;A. Ming;Qiang Huang
在机器人领域，小型猫科机器人因其体积小、灵活性好、能耗低等优点，已成为一种研究趋势。弹性四杆机构具有轨迹可编程、稳定性好、具有一定的缓冲性能，是小型四足机器人驱动器设计的理想选择。我们设计了一种新颖的微型仿猫机器人Og-CAT，与其他类似的四足机器人相比，它在结构特征和特殊参数上都进行了优化。此外，我们还开发了一种方法，可以使机器人的腿部轨迹在EFLM中精确实现。通过MatLab拟合得到轨迹实现函数，从而实现轨迹的精确执行。所提出的方法已经在我们的小型四足机器人Og-CAT上得到了验证。
In the field of robotics, small cat-like robots, due to its small size, good flexibility, low energy consumption, has become a research trend. Elastic four-bar linkage mechanism (EFLM) with programmable trajectory, good stability, and certain buffer performance, is an excellent choice for driver design of small quadruped robot. We designed a novel miniature cat-like robot, Og-cat, which is optimized in structural features and special parameters compared with other similar quadruped robots. Moreover, we developed a method that can make leg trajectory implement accurately for robots using EFLM. A trajectory realization function is obtained through MATLAB fitting so that the trajectory can be executed precisely. The proposed method has been confirmed on our small quadruped robot Og-cat.