The Modeling And Analysis Of The Quadruped Robot

The quadruped robot driven by hydraulic power is becoming the research focus in recent years, by virtue of its superior terrain adaptability and control flexibility. As the most fundamental issue of quadruped robot research, modeling and analysis have important significance for the quadruped robot basic theory system. Combined with the National Natural Science Fund Research on the fundamentals and key techniques of high performance hydraulic quadruped robot, this paper is focused on the kinematics of quadruped robot, using modern mathematical methods. The main content of this paper is presented as follows:(1) Firstly, the research background, as well as the research progress of modeling and analysis of quadruped robot is introduced. The project foundation, main research content and the organization of this paper is introduced immediately.(2) In this chapter the kinematics modeling and analysis of quadruped robot is fulfilled by means of Lie Group, Lie Algebra and Screw Theory. Lie Group, Lie Algebra and Screw Theory is utilized extensively among dealing with the kinematics and dynamics of robots of serial structure or parallel structure. Degree of Freedom analysis under circumstances of different number of supporting legs, the forward kinematics analysis by means of POE equation, the inverse kinematics using the Paden-Kahan subproblems, velocity analysis are conducted progressively; at the end of this chapter, all the previous analyses are realized by the Computer Algebra System.(3) In this chapter the modeling and analysis of quadruped robot is completed by Geometric Algebra Theory. Geometric Algebra Theory is a promising theory to be a unified theory in robotics field, and as a consequence, using this method has a strong realistic importance. In this part the Euclidean Geometric Algebra, Projective Geometric Algebra and Conformal Geometric Algebra are schematized. Then through the perspective of Conformal Geometric Algebra, the redundant structure quadruped robot kinematics is studied.(4) In this chapter the modeling and analysis of quadruped robot is completed by Dual Quaternion. Dual Quaternion is a pretty fine computing platform to realize the3Dimension Projective Geometric Algebra. Compared with other tools, Dual Quaternion is capable of representing spatial rigid body configuration only by8numbers, and this has been proven and testified to be the most computing efficient and expression ability by experts. In this part, the Dual Quaternion spatial configuration and rigid body transformation representation is briefed. Then the forward kinematics modeling and analysis by means of point transformation, the velocity analysis by a recursive method, and the end leg analysis by line transformation, are carried out by Dual Quaternion method. All these analyses are realized by Computer Algebra System likewise.(5) As a conclusion for the whole paper, this part is a summary of the innovations and inadequacies of this research, and looking into the future work.