Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction Method
For coordinating the body change and leg movement to promote jump and over-obstacle ability of a bionic robot,a new type of quadruped bionic robot configurations with spine is introduced. On this basis,the forward kinematics problem of this kind of the robot is studied. Firstly,according to the stru...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.11.008 |
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| author | Wang Liangwen Mu Yalin Yue Lei Li Hongpeng Wang Xinjie Du Wenliao |
| author_facet | Wang Liangwen Mu Yalin Yue Lei Li Hongpeng Wang Xinjie Du Wenliao |
| author_sort | Wang Liangwen |
| collection | DOAJ |
| description | For coordinating the body change and leg movement to promote jump and over-obstacle ability of a bionic robot,a new type of quadruped bionic robot configurations with spine is introduced. On this basis,the forward kinematics problem of this kind of the robot is studied. Firstly,according to the structure of the robot,the motion equations are established which contain the all driving angles. The motion equations contain many redundant drive angles,which is very difficult to solve the redundant drive angles,a dimensionality-reduction method is adopted. By using the dimensionality-reduction method,one of the formulas is translated to the constraint condition,the iteration procedure is used for the rest of equation sets to seek solutions of the redundant drive angles which satisfy the constraint condition. On this basis,the pose of mass center for the quadruped bionic robot with spine is solved and analyzed. An example is given to illustrate the process,this research is helpful to accelerate the use of this kind of robot. |
| format | Article |
| id | doaj-art-b4771bb7aae141b4a04c8605de1bd313 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b4771bb7aae141b4a04c8605de1bd3132025-01-10T14:20:16ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141394429933106Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction MethodWang LiangwenMu YalinYue LeiLi HongpengWang XinjieDu WenliaoFor coordinating the body change and leg movement to promote jump and over-obstacle ability of a bionic robot,a new type of quadruped bionic robot configurations with spine is introduced. On this basis,the forward kinematics problem of this kind of the robot is studied. Firstly,according to the structure of the robot,the motion equations are established which contain the all driving angles. The motion equations contain many redundant drive angles,which is very difficult to solve the redundant drive angles,a dimensionality-reduction method is adopted. By using the dimensionality-reduction method,one of the formulas is translated to the constraint condition,the iteration procedure is used for the rest of equation sets to seek solutions of the redundant drive angles which satisfy the constraint condition. On this basis,the pose of mass center for the quadruped bionic robot with spine is solved and analyzed. An example is given to illustrate the process,this research is helpful to accelerate the use of this kind of robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.11.008Quadruped bionic robotSpineForward kinematicsDimensionality-reduction method |
| spellingShingle | Wang Liangwen Mu Yalin Yue Lei Li Hongpeng Wang Xinjie Du Wenliao Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction Method Jixie chuandong Quadruped bionic robot Spine Forward kinematics Dimensionality-reduction method |
| title | Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction Method |
| title_full | Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction Method |
| title_fullStr | Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction Method |
| title_full_unstemmed | Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction Method |
| title_short | Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction Method |
| title_sort | forward kinematics analysis of quadruped bionic robot with spine based on dimensionality reduction method |
| topic | Quadruped bionic robot Spine Forward kinematics Dimensionality-reduction method |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.11.008 |
| work_keys_str_mv | AT wangliangwen forwardkinematicsanalysisofquadrupedbionicrobotwithspinebasedondimensionalityreductionmethod AT muyalin forwardkinematicsanalysisofquadrupedbionicrobotwithspinebasedondimensionalityreductionmethod AT yuelei forwardkinematicsanalysisofquadrupedbionicrobotwithspinebasedondimensionalityreductionmethod AT lihongpeng forwardkinematicsanalysisofquadrupedbionicrobotwithspinebasedondimensionalityreductionmethod AT wangxinjie forwardkinematicsanalysisofquadrupedbionicrobotwithspinebasedondimensionalityreductionmethod AT duwenliao forwardkinematicsanalysisofquadrupedbionicrobotwithspinebasedondimensionalityreductionmethod |