中文版 | English
Title

Design and Motion Planning of a Metamorphic Flipping Robot

Author
Corresponding AuthorDai, Jian S.
Publication Years
2022-12-01
DOI
Source Title
EISSN
2076-0825
Volume11Issue: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
URL[Source Record]
Indexed By
Language
English
SUSTech Authorship
Corresponding
WOS Research Area
Engineering ; Instruments & Instrumentation
WOS Subject
Engineering, Mechanical ; Instruments & Instrumentation
WOS Accession No
WOS:000934063300001
Publisher
Data Source
Web of Science
Citation statistics
Cited Times [WOS]:0
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/490027
DepartmentDepartment 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 AffilicationDepartment 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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