Abstract
This paper examines the dynamics and stability of quadruped bounding with asymmetrical mass distribution between front and rear body. A sagittal-plane model with an asymmetrical articulated torso and two compliant legs is introduced to capture the dynamics of robot bounding. Numerical return map studies of the system in dimensionless setting reveal that the speed of this model increases when the ratio of front body-mass to rear body-mass decreases. Next, the stability properties of this model are investigated. The results indicate that the stability of robot doesn’t vary with the decreased ratio, but it will decrease with the increased ratio. In conclusion, we conclude that appropriate decreasing the ratio of front body-mass to rear body-mass can enhance the locomotion performance of quadruped bounding with articulated spine without scarfing robot’s stability.
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Nie, H., Sun, R., Xiong, C. (2015). The Effect of Asymmetrical Body-Mass Distribution on the Stability and Dynamics of Quadruped Bounding with Articulated Spine. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R. (eds) Intelligent Robotics and Applications. Lecture Notes in Computer Science(), vol 9246. Springer, Cham. https://doi.org/10.1007/978-3-319-22873-0_22
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DOI: https://doi.org/10.1007/978-3-319-22873-0_22
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22872-3
Online ISBN: 978-3-319-22873-0
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