Jiang, L.; Xu, Z.; Zheng, T.; Zhang, X.; Yang, J. Research on Dynamic Modeling Method and Flying Gait Characteristics of Quadruped Robots with Flexible Spines. Biomimetics2024, 9, 132.
Jiang, L.; Xu, Z.; Zheng, T.; Zhang, X.; Yang, J. Research on Dynamic Modeling Method and Flying Gait Characteristics of Quadruped Robots with Flexible Spines. Biomimetics 2024, 9, 132.
Jiang, L.; Xu, Z.; Zheng, T.; Zhang, X.; Yang, J. Research on Dynamic Modeling Method and Flying Gait Characteristics of Quadruped Robots with Flexible Spines. Biomimetics2024, 9, 132.
Jiang, L.; Xu, Z.; Zheng, T.; Zhang, X.; Yang, J. Research on Dynamic Modeling Method and Flying Gait Characteristics of Quadruped Robots with Flexible Spines. Biomimetics 2024, 9, 132.
Abstract
In recent years, both domestic and international research on quadruped robots has advanced towards high dynamics and agility, with a focus on high-speed locomotion as a representative motion in high-dynamic activities. Quadruped animals like cheetahs exhibit high-speed running capabilities, attributed to the indispensable role played by their flexible spines during the flight phase motion. This paper establishes dynamic models of quadruped robots with different degrees of spine flexibility, providing a parameterized description of the flight phase motion for both rigid trunks and flexible spine quadruped robots. By setting different initial values for the spine joint and calculating the flight phase results for both types of robots at various initial velocities, the study compares and analyzes the impact of a flexible spine on the flight phase motion of quadruped robots. Through comparative experiments, the research aims to validate the influence of a flexible spine during the flight phase motion, providing insights into how spine flexibility affects the flight phase motion of quadruped robots.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
