障碍物
机器人
正确性
机器人运动
计算机科学
模拟
跳跃的
地形
控制工程
工程类
机器人控制
移动机器人
人工智能
生理学
生态学
政治学
法学
生物
程序设计语言
作者
Chenyang Zhang,Jieliang Zhao,Tianyu Zhang,Qun Niu,Yongxia Gu,Jieliang Zhao,Wenzhong Wang
标识
DOI:10.1002/admt.202400992
摘要
Abstract Advances in bionic technology have enabled quadruped robots to be more flexible. Numerous quadruped robots in various forms specialize in walking and trotting, whereas very few robots achieve high‐performance obstacle‐overcoming. A bionic quadruped standing long jump obstacle‐overcoming robot is presented. By using two synchronous belts and energy storage, this robot is capable of high‐performance jumping. A flexible spine for the bionic quadruped obstacle‐overcoming robot is also presented to achieve energy storage and shock absorption during obstacle‐overcoming. Furthermore, the control framework by establishing the dynamic models of the single limb is proposed. To validate the feasibility and accuracy of the design theory and robot scheme, simulations are conducted. The results of these simulations clearly illustrate the robot's ability to successfully overcome obstacles of varying heights, thereby affirming the correctness of its limb dynamics models. In comparison to traditional quadruped robots, the bionic quadruped obstacle‐overcoming robot proves its efficacy in navigating challenging terrains.
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