NDLI: Modeling and Effective Foot Force Distribution for the Legs of a Quadruped Robot

Please wait, while we are loading the content...

Modeling and Effective Foot Force Distribution for the Legs of a Quadruped Robot

Content Provider	Scilit
Author	Biswal, Priyaranjan Mohanty, Prases K.
Copyright Year	2021
Description	SUMMARY: This paper presents the detailed dynamic modeling of a quadruped robot. The forward and inverse kinematic analysis of each leg of the proposed model is deduced using Denavit-Hartenberg (D-H) parameters. It desires to calculate the optimal feet forces of the quadruped robot’s joint torque, which is essential for its online control. To find out the optimal feet force distribution, two approaches are implemented to fulfill the locomotion objective. The four-legged quadruped robot and torso body’s detailed dynamics are modeled to generate an equation of motion for the robot control system. The Euler–Langrage theory has been used to find out the joint motion. The computer simulation results are presented to verify the effectiveness of the dynamic model.
Related Links	https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0E42B4901E00616F7FE454601174C97A/S0263574720001307a.pdf/div-class-title-modeling-and-effective-foot-force-distribution-for-the-legs-of-a-quadruped-robot-div.pdf
ISSN	02635747
e-ISSN	14698668
DOI	10.1017/s0263574720001307
Journal	Robotica
Issue Number	8
Volume Number	39
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	2021-01-08
Access Restriction	Open
Subject Keyword	Robotica Cybernetical Science Quadruped Robot Dynamic Modeling
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in