Trot Gait with Twisting Trunk of a Metamorphic Quadruped Robot  

作　　者：Chunsong Zhang Jiansheng Dai 

机构地区：[1]International Centre for Advanced Mechanisms and Robotics, School of Meehanical Engineering, Tianjin University, Tianjin 300345, China [2]Centre for Robotics Research, King's College London, Strand, London, UK

出　　处：《Journal of Bionic Engineering》2018年第6期971-981,共11页仿生工程学报（英文版）

基　　金：This work was supported by the Natural Science Foundation of China （Project Nos. 51535008 and 51721003） and the Talent Scheme under Grant No. B 16034.

摘　　要：This paper proposes a metamorphic quadruped robot with a moveable trunk, called Origaker I. From the angle view of bionics, the robot can imitate the natural quadrupeds to twist its trunk. As we all know, most natural quadrupeds twist their trunk when running. The twisting trunk must bring significant benefits to their locomotion. Nevertheless there are few researches focusing on running gaits with twisting trunk of quadruped robots. Therefore, this paper investigates the trot gait with twisting trunk. One gait cycle of a lizard with twisting trunk is observed. Apart from the observation, the gait is designed based on the Zero Moment Point （ZMP） method and by con- sidering three points related to the twisting trunk. A simulation and an experiment are carried out to verify the efficiency of the trot gait with twisting trunk. It is found that the twisting trunk helps the quadruped robot get larger stride length and further perform higher lo- comotion speed than that with rigid trunk.This paper proposes a metamorphic quadruped robot with a moveable trunk, called Origaker I. From the angle view of bionics, the robot can imitate the natural quadrupeds to twist its trunk. As we all know, most natural quadrupeds twist their trunk when running. The twisting trunk must bring significant benefits to their locomotion. Nevertheless there are few researches focusing on running gaits with twisting trunk of quadruped robots. Therefore, this paper investigates the trot gait with twisting trunk. One gait cycle of a lizard with twisting trunk is observed. Apart from the observation, the gait is designed based on the Zero Moment Point （ZMP） method and by con- sidering three points related to the twisting trunk. A simulation and an experiment are carried out to verify the efficiency of the trot gait with twisting trunk. It is found that the twisting trunk helps the quadruped robot get larger stride length and further perform higher lo- comotion speed than that with rigid trunk.

关 键 词：BIONICS quadruped robots twisting trunk trot gait 

分 类 号：V476.9[航空宇航科学与技术—飞行器设计] O437[机械工程—光学工程]