Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential Motion
In order to realize the continuous circumferential motion of the quadruped robot along the inner wall of the pipe，the plan of position and posture during the motion is carried out. Firstly，the pipeline coordinate system and the robot position and posture equations are established，and a circumferenti...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-11-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.006 |
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| _version_ | 1841547327518539776 |
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| author | Tie Zhang Jiaoren Wu Di Cai Lingfeng Wu |
| author_facet | Tie Zhang Jiaoren Wu Di Cai Lingfeng Wu |
| author_sort | Tie Zhang |
| collection | DOAJ |
| description | In order to realize the continuous circumferential motion of the quadruped robot along the inner wall of the pipe，the plan of position and posture during the motion is carried out. Firstly，the pipeline coordinate system and the robot position and posture equations are established，and a circumferential motion including foot posture adjustment，body rotation and body translation is planned. In order to ensure the continuity of the circumferential motion，the angle，direction and displacement of the posture during the motion are planned，and the circumferential motion posture planning is realized through foot motion. Use the joint angle curve of the circumferential motion calculated by Matlab to perform wall-climbing experiments with the robot prototype. Finally，the experimental results and the roll angle analysis verify the correctness of the circumferential motion pose planning. |
| format | Article |
| id | doaj-art-48e208aa8d234519a96eddb8260f3893 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-48e208aa8d234519a96eddb8260f38932025-01-10T14:47:30ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-11-0145344020727741Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential MotionTie ZhangJiaoren WuDi CaiLingfeng WuIn order to realize the continuous circumferential motion of the quadruped robot along the inner wall of the pipe，the plan of position and posture during the motion is carried out. Firstly，the pipeline coordinate system and the robot position and posture equations are established，and a circumferential motion including foot posture adjustment，body rotation and body translation is planned. In order to ensure the continuity of the circumferential motion，the angle，direction and displacement of the posture during the motion are planned，and the circumferential motion posture planning is realized through foot motion. Use the joint angle curve of the circumferential motion calculated by Matlab to perform wall-climbing experiments with the robot prototype. Finally，the experimental results and the roll angle analysis verify the correctness of the circumferential motion pose planning.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.006Quadruped robotCircumferential motionPose planningMotion trajectory |
| spellingShingle | Tie Zhang Jiaoren Wu Di Cai Lingfeng Wu Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential Motion Jixie chuandong Quadruped robot Circumferential motion Pose planning Motion trajectory |
| title | Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential Motion |
| title_full | Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential Motion |
| title_fullStr | Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential Motion |
| title_full_unstemmed | Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential Motion |
| title_short | Pose Planning of Quadruped Pipe Wall-climbing Robot During Circumferential Motion |
| title_sort | pose planning of quadruped pipe wall climbing robot during circumferential motion |
| topic | Quadruped robot Circumferential motion Pose planning Motion trajectory |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.006 |
| work_keys_str_mv | AT tiezhang poseplanningofquadrupedpipewallclimbingrobotduringcircumferentialmotion AT jiaorenwu poseplanningofquadrupedpipewallclimbingrobotduringcircumferentialmotion AT dicai poseplanningofquadrupedpipewallclimbingrobotduringcircumferentialmotion AT lingfengwu poseplanningofquadrupedpipewallclimbingrobotduringcircumferentialmotion |