南方科技大学知识苑(SUSTech KC): Design and Motion Planning of a Metamorphic Flipping Robot

Title	Design and Motion Planning of a Metamorphic Flipping Robot
Author	Guan, Yuntao 1; Zhuang, Zheming 1; Zhang, Chunsong 1; Tang, Zhao 1; Zhang, Ze 1; Dai, Jian S.1,2,3
Corresponding Author	Dai, Jian S.
Publication Years	2022-12-01
DOI	10.3390/act11120344
Source Title	ACTUATORS Impact Factor & Quartile
EISSN	2076-0825
Volume	11 Issue:12
Abstract	With the advantages of high flexibility, strong adaptability, etc., the legged robot can help humans to complete numerous complicated tasks. In this paper, a kind of reconfigurable legged robot with a flexible waist was proposed. Compared with the common robots with a rigid trunk, the proposed robot can twist its waist flexibly. Through analysis, it is found that the flexible waist can improve the trunk workspace, foot endpoints' workspace and static stability margin of the robot, and further enhance the motion performance of the robot. Meanwhile, by imitating the creatures in nature, the motion gait planning of the robot was provided. Additionally, the proposed robot has excellent reconfigurable characteristics, and can flexibly transform among three forms to adapt to different working environments and accomplish different tasks. Further, after capsizing, the robot can complete the motion of turning over more easily. In this paper, the reconfiguration posture and the motion of turning over of the robot were planned in detail, and finally verified by ADAMS simulation.
Keywords	reconfigure legged robot flexible waist flip
URL	[Source Record]
Indexed By	SCI
Language	English
SUSTech Authorship	Corresponding
WOS Research Area	Engineering ; Instruments & Instrumentation
WOS Subject	Engineering, Mechanical ; Instruments & Instrumentation
WOS Accession No	WOS:000934063300001
Publisher	MDPI
Data Source	Web of Science
Citation statistics	Cited Times [WOS]:0
Document Type	Journal Article
Identifier	http://kc.sustech.edu.cn/handle/2SGJ60CL/490027
Department	Department of Mechanical and Energy Engineering
Affiliation	1.Tianjin Univ, Int Ctr Adv Mech & Robot, Key Lab Mech Theory & Equipment Design, Minist Educ, Tianjin 300350, Peoples R China 2.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518000, Peoples R China 3.Kings Coll London, Ctr Robot Res, London WC2R 2LS, England
Corresponding Author Affilication	Department of Mechanical and Energy Engineering
Recommended Citation GB/T 7714	Guan, Yuntao,Zhuang, Zheming,Zhang, Chunsong,et al. Design and Motion Planning of a Metamorphic Flipping Robot[J]. ACTUATORS,2022,11(12).
APA	Guan, Yuntao,Zhuang, Zheming,Zhang, Chunsong,Tang, Zhao,Zhang, Ze,&Dai, Jian S..(2022).Design and Motion Planning of a Metamorphic Flipping Robot.ACTUATORS,11(12).
MLA	Guan, Yuntao,et al."Design and Motion Planning of a Metamorphic Flipping Robot".ACTUATORS 11.12(2022).

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