NDLI: Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot

Content Provider	Springer Nature Link
Author	Lei, Jingtao Yu, Huangying Wang, Tianmiao
Copyright Year	2016
Abstract	The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures’ kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18°. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.
Starting Page	11
Ending Page	20
Page Count	10
File Format	PDF
ISSN	10009345
Journal	Chinese Journal of Mechanical Engineering
Volume Number	29
Issue Number	1
e-ISSN	21928258
Language	English
Publisher	Chinese Mechanical Engineering Society
Publisher Date	2015-12-29
Publisher Place	Beijing
Access Restriction	Subscribed
Subject Keyword	quadruped robot bionic flexible body PAM spinning gait dynamics Mechanical Engineering Theoretical and Applied Mechanics Manufacturing, Machines, Tools Engineering Thermodynamics, Heat and Mass Transfer Power Electronics, Electrical Machines and Networks Electronics and Microelectronics, Instrumentation
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Mechanical Engineering

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

Gait planning for a quadruped robot with one faulty actuator

Learning gait of quadruped robot without prior knowledge of the environment

Energy efficiency analysis of quadruped robot with trot gait and combined cycloid foot trajectory

Basic characteristics of a new flexible pneumatic bending joint

Gait definition and successive gait-transition method based on energy consumption for a quadruped

Effect of spine motion on mobility in quadruped running

Biped robot with triangle configuration

Typical gait analysis of a six-legged robot in the context of metamorphic mechanism theory

Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot

Similar Documents

Gait planning for a quadruped robot with one faulty actuator

Learning gait of quadruped robot without prior knowledge of the environment

Energy efficiency analysis of quadruped robot with trot gait and combined cycloid foot trajectory

Basic characteristics of a new flexible pneumatic bending joint

Gait definition and successive gait-transition method based on energy consumption for a quadruped

Effect of spine motion on mobility in quadruped running

Biped robot with triangle configuration

Typical gait analysis of a six-legged robot in the context of metamorphic mechanism theory

Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot