IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/3943867.html
   My bibliography  Save this article

Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot

Author

Listed:
  • Mingfang Chen
  • Hao Chen
  • Xuejun Wang
  • JiangXuan Yu
  • YongXia Zhang

Abstract

In order to solve the defects of the large inertia and control difficulty of the electrically driven quadruped legs of robots, a novel leg structure and a control method are proposed in this paper. In terms of structure, the motor of the knee is arranged in the body of the robot to reduce the weight of the legs. In addition, this paper improves the PVT difference control algorithm embedded in the PMAC controller. Using the nonlinear control principle of the U-model, the optimized segmented Hermite difference method is used to implement the planning of the foot trajectory of the quadruped robot. Simulation and experiment show that the leg structure design is reasonable and the improved interpolation algorithm has good control effect.

Suggested Citation

  • Mingfang Chen & Hao Chen & Xuejun Wang & JiangXuan Yu & YongXia Zhang, 2020. "Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-12, May.
    • Handle: RePEc:hin:jnlmpe:3943867
    DOI: 10.1155/2020/3943867
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2020/3943867.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2020/3943867.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2020/3943867?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:3943867. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.