Running Analysis of Quadruped Robot with Flexible Spine

doi:10.12068/j.issn.1005-3026.2020.01.020

Journal of Northeastern University Natural Science ›› 2020, Vol. 41 ›› Issue (1): 113-118.DOI: 10.12068/j.issn.1005-3026.2020.01.020

• Mechanical Engineering • Previous Articles Next Articles

Running Analysis of Quadruped Robot with Flexible Spine

MA Zong-li^1,2， MA Qing-ying^1,2， LYU Rong-ji^1,2， WANG Jian-ming^1,2

1. Key Laboratory of High-Efficiency and Clean Mechanical Manufacture， Ministry of Education， Shandong University， Jinan 250061，China; 2. National Engineering Experimental Teaching Demonstration Center of Mechanical Engineering， Shandong University， Jinan 250061， China.

Received:2019-03-04 Revised:2019-03-04 Online:2020-01-15 Published:2020-02-01
Contact: WANG Jian-ming
About author:-
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Abstract

Abstract: In order to improve the running performance of quadruped robot， a quadruped robot with flexible spine was designed. The flexible spine was composed of two parallel rubber rods and a driving hydraulic cylinder. By controlling the expansion and contraction of the driving hydraulic cylinder， the two parallel rubber rods can be bent up and down. The influence of the flexible spine of the quadruped robot on step length was analyzed. Based on a CPG control method of the Hopf model， the expressions of the amplitude of the joint drive curve of the hip joint and the knee joint were derived. Meanwhile， through the reconstruction of the network topology， the spine drive signal was coupled with the joint drive signal of each leg.Finally， the bound gait simulation of the quadruped robot was done by using the Adams and MATLAB/Simulink softwares. The simulation results show that the running performance of the quadruped robot with flexible spine is obviously improved.

Key words: quadruped robot, flexible spine, Hopf model, CPG(central pattern generator), bound gait

CLC Number:

TP242

MA Zong-li， MA Qing-ying， LYU Rong-ji， WANG Jian-ming. Running Analysis of Quadruped Robot with Flexible Spine[J]. Journal of Northeastern University Natural Science, 2020, 41(1): 113-118.

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Running Analysis of Quadruped Robot with Flexible Spine

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[1]	MA Zong-li， ZHANG Pei-qiang， LYU Rong-ji， WANG Jian-ming. Stability Analysis of Walking on the Slope for a Quadruped Robot [J]. Journal of Northeastern University Natural Science, 2018, 39(5): 673-678.
[2]	MA Zong-li， LIU Yong-chao， ZHU Yan-fang， WANG Jian-ming. Design and Analysis of Running Quadruped Robots’ Leg Structure [J]. Journal of Northeastern University Natural Science, 2016, 37(9): 1305-1310.
[3]	MA Zong-li， ZHU Yan-fang， LIU Yong-chao， WANG Jian-ming. Design and Analysis of New Energy-Efficient Legs for Quadruped Robots [J]. Journal of Northeastern University Natural Science, 2016, 37(4): 543-548.