Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-137-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-137-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
01 Mar 2022
Research article |
| 01 Mar 2022
| 01 Mar 2022
Simulation and analysis of a single actuated quadruped robot
Changtao Yan
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
Yanan Yao
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
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Short summary
Aiming at the complex control system of a quadruped robot, a leg structure of a quadruped robot was designed based on mechanism synthesis. The innovativeness of this robot is that it can achieve a special gait driven only by a single motor. Simulation and experimental analysis prove that the mechanism is reasonable, reliable and can meet the requirements of linear walking and climbing. The conclusions of this research will be useful for application in field of single actuated quadruped robots.
Aiming at the complex control system of a quadruped robot, a leg structure of a quadruped robot...
