Journal metrics

Journal metrics

  • IF value: 1.352 IF 1.352
  • IF 5-year value: 1.615 IF 5-year 1.615
  • CiteScore value: 1.48 CiteScore 1.48
  • SNIP value: 0.965 SNIP 0.965
  • SJR value: 0.288 SJR 0.288
  • IPP value: 1.08 IPP 1.08
  • h5-index value: 12 h5-index 12
  • Scimago H index value: 11 Scimago H index 11
Supported by
Logo Library of Delft University of Technology Logo NWO
Affiliated to
Logo iftomm
Mech. Sci., 9, 1-14, 2018
https://doi.org/10.5194/ms-9-1-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.
Research article
04 Jan 2018
Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot
Chunsong Zhang1 and Jian S. Dai1,2 1International centre for advanced mechanisms and robotics, School of Mechanical Engineering, Tianjin University, Tianjin, 300345, China
2Centre for Robotics Research, King's College London, Strand, London, UK
Abstract. The natural quadrupeds, such as geckos and lizards, often twist their trunks when moving. Conventional quadruped robots cannot perform the same motion due to equipping with a trunk which is a rigid body or at most consists of two blocks connected by passive joints. This paper proposes a metamorphic quadruped robot with a reconfigurable trunk which can implement active trunk motions, called MetaRobot I. The robot can imitate the natural quadrupeds to execute motion of trunk twisting. Benefiting from the twisting trunk, the stride length of this quadruped is increased comparing to that of conventional quadruped robots.

In this paper a continuous static gait benefited from the twisting trunk performing the increased stride length is introduced. After that, the increased stride length relative to the trunk twisting will be analysed mathematically. Other points impacting the implementation of the increased stride length in the gait are investigated such as the upper limit of the stride length and the kinematic margin. The increased stride length in the gait will lead the increase of locomotion speed comparing with conventional quadruped robots, giving the extent that natural quadrupeds twisting their trunks when moving. The simulation and an experiment on the prototype are then carried out to illustrate the benefits on the stride length and locomotion speed brought by the twisting trunk to the quadruped robot.


Citation: Zhang, C. and Dai, J. S.: Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot, Mech. Sci., 9, 1-14, https://doi.org/10.5194/ms-9-1-2018, 2018.
Publications Copernicus
Download
Short summary
A continuous static gait of a quadruped robot benefited from the twisting trunk performing the increased stride length is introduced. After that, the increased stride length relative to the trunk twisting will be analysed mathematically. Other points impacting the implementation of the increased stride length in the gait are investigated such as the upper limit of the stride length and the kinematic margin. The increased stride length in the gait will lead the increase of locomotion speed.
A continuous static gait of a quadruped robot benefited from the twisting trunk performing the...
Share