Stability Margin of a Metamorphic Quadruped Robot With a Twisting Trunk
Stability Margin of a Metamorphic Quadruped Robot With a Twisting Trunk
复制标题
具有扭转躯干的变形四足机器人的稳定性裕度
DOI：
10.1115/1.4044600
复制
发表时间：
2019-12-01
影响因子：
2.6
通讯作者：
Qi, Peng
中科院分区：
文献类型：
--
作者：
Zhang, Chunsong;Zhang, Chi;Qi, Peng
To date, most quadruped robots are either equipped with trunks that are rigid bodies or consist of blocks connected by passive joints. The kinematic performance of these quadruped robots is only determined by their legs. To release the mobility of trunks and enhance the performance of quadruped robots, this paper proposes a metamorphic quadruped robot with a moveable trunk (a planar six-bar closed-loop linkage), called MetaRobot I, which can implement active trunk motions. The robot can twist its trunk like natural quadrupeds. Through trunk twisting, the stability margin of the quadruped robot can be increased compared with that of a quadruped robot with a rigid trunk. The inner relationship between the stability margin and the twisting angle is analyzed in this paper. Finally, simulations are carried out to show the benefits facilitated by the twisting trunk to the quadruped robot.
