Research on Bionic Jumping and Soft Landing of Single Leg System in Quadruped Robot
作者机构：College of Mechanical and Vehicle EngineeringTaiyuan University of TechnologyTaiyuan030024China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2023年第20卷第5期
页 面：2088-2107页
核心收录：
学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 1002[医学-临床医学] 08[工学] 080202[工学-机械电子工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0702[理学-物理学] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：This work was supported by the National Nature Science Foundation of China(Grant No.51905367) the Foundation of Applied Basic Research General Youth Program of Shanxi(Grant No.201901D211011) the Scientific and Technological Innovation Programs of Higher Education Institutions of Shanxi(Grant No.2019L0176).
主 题：Wheel-leg-separated quadruped robot Bionic jumping Dynamic modeling Soft landing
摘 要：This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspace of the single leg mechanism in the quadruped robot were established.A single leg complex dynamic model of the quadruped robot is derived,considering the mass and inertial force of all the components in the mechanical leg.Combined with the human jumping law in situ,the jumping trajectory of the single leg was planned.To reduce landing impact,a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action.The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied,and the influencing factors of jump height were analyzed to realize the height control of the jump.Single leg jumping dynamics model was established,and a dynamic control strategy for trajectory tracking with foot force compensation was proposed.In Adams and MATLAB/Simulink software,the jump simulation of single leg mechanism was carried out.The prototype of quadruped robot was developed,and the jumping experiment of the single leg mechanism was tested.The robot s single leg bionic jumping and soft landing control are realized.
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