文章基本信息

标题：Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot
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作者：Jaichandar Kulandaidaasan Sheba ; Mohan Rajesh Elara ; Edgar Martínez-García 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2016
卷号：5
期号：3
页码：13-32
DOI：10.3390/robotics5030013
出版社：MDPI Publishing
摘要：Reconfigurable legged robots based on one degree of freedom are highly desired because they are effective on rough and irregular terrains and they provide mobility in such terrain with simple control schemes. It is necessary that reconfigurable legged robots should maintain stability during rest and motion, with a minimum number of legs while maintaining their full range of walking patterns resulting from different gait configuration. In this paper we present a method to generate input trajectory for reconfigurable quadruped robots based on Klann mechanism to properly synchronize movement. Six useful gait cycles based on this reconfigurable Klann mechanism for quadruped robots has been clearly shown here. The platform stability for these six useful gait cycles are validated through simulated results which clearly shows the capabilities of reconfigurable design.
关键词：Klann mechanism; reconfigurable robots; gaits; trajectory generation; stability analysis; synchronization Klann mechanism ; reconfigurable robots ; gaits ; trajectory generation ; stability analysis ; synchronization