By Topic

Bionic design of the quadrupedal robot and motion simulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Zhang Xiuli ; Dept. of Precision Instruments, Tsinghua Univ., Beijing, China ; Duan Guanghong ; Zheng Haojun ; Zhao Liyao
more authors

Mechanical structure of the quadrupedal robot was designed to complete pitch motion by mimicking the mammal's body. Joint motion tracks of the quadrupedal robot were designed and motion relation of knee and hip joints was formulated according to the leg-motion-pattern of mammal. Rhythmic motion controller of the quadrupedal robot adopted biological model of central pattern generator (CPG), whose outputs were used to be control signals of joint angles for hips. Flipping and translating the motion curves of hip joints in the same leg obtained control signals of knee joints. Proved by numerical and animation simulation, all the designs for the quadrupedal robot are effective. The quadrupedal robot can walk smoothly.

Published in:

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on  (Volume:1 )

Date of Conference:

8-13 Oct. 2003