Dynamic Modeling of a Quadruped With a Robotic Tail Using Virtual Work Principle
Dynamic Modeling of a Quadruped With a Robotic Tail Using Virtual Work Principle
复制标题
利用虚拟工作原理对带有机器人尾巴的四足动物进行动态建模
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Pinhas Ben
中科院分区：
文献类型：
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作者：
Yujiong Liu;Pinhas Ben
为了利用机器人尾巴来稳定和操纵四足动物，重要的是要了解尾巴运动如何影响四足动物的运动，这需要获得一个解析的动力学模型的机制。本文提出了一个系统的方法来建立动力学的一般四足动物（能够所有6自由度的运动）与机器人摆尾巴的基础上的虚功原理。该模型的制定是出于机器人尾巴的研究，它也可以作为一种替代方法来模拟四足动物的动力学，而不是使用拉格朗日和牛顿-欧拉为基础的方法。数值模拟也进行了验证的正，逆模型。
For utilizing robotic tail to stabilize and maneuver a quadruped, it is important to understand the mechanism of how the tail motion influences the quadruped motion which requires obtaining an analytic dynamic model. This paper presents a systematic methodology for modeling the dynamics of a general quadruped (capable of all 6 DOF motions) with a robotic pendulum tail based on the virtual work principle. The formulation of this model is motivated by robotic tail research, it can also be used as an alternative approach to model the quadruped dynamics other than using Lagrangian and Newton-Euler based methods. Numerical simulations are also conducted to verify both the forward and the inverse model.