Modeling of a Quadruped Robot with Spine Joints and Full-Dynamics Simulation Environment Construction

03/17/2022
by   Omer Kemal Adak, et al.
0

This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot models in their simulations. This survey reveals the need for the full-body spined quadruped simulation environment. First, the kinematics and dynamics modeling of the active spined quadruped robot is obtained. Since quadruped robots are floating-base robots, all derivations are performed with respect to an inertial frame. The motion equations are acquired by the Lagrangian approach. The simulation environment is constructed in the MATLAB/Simulink platform, considering its rich library, powerful solvers, and suitable and resilient environment in integrating controllers. The computation speed of the simulation environment is increased by using optimized MATLAB functions. Precise and accurate contact model is utilized in the simulation environment. We foreseen that the provided full-dynamics simulation environment will be helpful for further spine joint studies on the quadruped robot field.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
11/03/2020

A Dynamics Simulator for Soft Growing Robots

Simulating soft robots in cluttered environments remains an open problem...
research
05/17/2022

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots

This paper presents a modeling and control framework for multibody flyin...
research
11/15/2022

Omnidirectional robot modeling and simulation

A robot simulation system is a basic need for any robotics application. ...
research
08/22/2019

Simulation Model of Two-Robot Cooperation in Common Operating Environment

The article considers a simulation modelling problem related to the ches...
research
07/03/2018

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints

In this paper, we devise methods for the multi- objective control of hum...
research
09/27/2019

Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity

Robotic Hopping is challenging from the perspective of both modeling the...
research
04/25/2023

Towards a generalizable simulation framework to study collisions between spacecraft and debris

In recent years, computer simulators of rigid-body systems have been suc...

Please sign up or login with your details

Forgot password? Click here to reset