Stability analysis and gait planning of a quadruped robot based on the eccentric paddle mechanism

作者：Zhao Jinglei; Pu Huayan^*; Sun Yi; Ma Shugen; Shen Yayi; Luo Jun; Gong Zhenbang

来源：Control and Intelligent Systems, 2014, 42(4): 311-317.

DOI：10.2316/Journal.201.2014.4.201-2624

• EPaddle-EGM
• Gait planning
• Locomotion mechanism
• Locomotion simulation
• Motion planning methods
• Quadruped Robots
• Search and rescue tasks
• Stability analysis

The eccentric paddle mechanism based on an epicyclic gear mechanism (ePaddle-EGM) is a novel locomotion mechanism designed for amphibious search and rescue tasks. A quadruped robot consisting of four ePaddle-EGM modules has great mobility on multiple terrains. A gait planning method for conducting a legged crawl gait is proposed for this quadruped robot. And a novel principle of backlash-insensitive motion planning method on a single ePaddle- EGM module is firstly introduced. Analysis on gait sequence and stability margin of the quadruped robot are then presented. Finally, how the gait parameters affect the stability and mobility of the robot is analysed. Locomotion simulations are conducted in a multi-body dynamic simulator to verify proposed method.

• 出版日期2014