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Research and Simulation on Foot Trajectory of Zero-Slippage and Non-Laterodeviation

In order to test the result of straight-line walking driven by simple cycloid foot trajectory, a kind of quadruped robot is proposed and Adams software is used to simulate the gait. According to the results, the shortage of simple cycloid foot trajectory is analyzed, that the unequal velocity of sup... Full description

Journal Title: Applied Mechanics and Materials 2013-10-01, Vol.437 (Industrial Design and Mechanics Power II), p.798-802
Main Author: Xi, Lei
Other Authors: Shang, Jian Zhong , Luo, Zi Rong
Format: Electronic Article Electronic Article
Language: English
Subjects:
Publisher: Zurich: Trans Tech Publications Ltd
ID: ISSN: 1662-7482
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recordid: cdi_proquest_miscellaneous_1567074955
title: Research and Simulation on Foot Trajectory of Zero-Slippage and Non-Laterodeviation
format: Article
creator:
  • Xi, Lei
  • Shang, Jian Zhong
  • Luo, Zi Rong
subjects:
  • Computer programs
  • Cycloids
  • Gait
  • Legs
  • Robots
  • Shortages
  • Simulation
  • Trajectories
ispartof: Applied Mechanics and Materials, 2013-10-01, Vol.437 (Industrial Design and Mechanics Power II), p.798-802
description: In order to test the result of straight-line walking driven by simple cycloid foot trajectory, a kind of quadruped robot is proposed and Adams software is used to simulate the gait. According to the results, the shortage of simple cycloid foot trajectory is analyzed, that the unequal velocity of supporting feet was the key cause of feet-slippage and laterodeviation in the process of simulation. Thereby, the supporting phase of cycloid gait is smoothed, so that the phenomenon of differential in supporting legs is eliminated and the foot velocity is guaranteed to be continuous. After simulation again, the results show that feet-slippage and laterodeviation are solved.
language: eng
source:
identifier: ISSN: 1662-7482
fulltext: no_fulltext
issn:
  • 1662-7482
  • 1660-9336
  • 1662-7482
url: Link


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descriptionIn order to test the result of straight-line walking driven by simple cycloid foot trajectory, a kind of quadruped robot is proposed and Adams software is used to simulate the gait. According to the results, the shortage of simple cycloid foot trajectory is analyzed, that the unequal velocity of supporting feet was the key cause of feet-slippage and laterodeviation in the process of simulation. Thereby, the supporting phase of cycloid gait is smoothed, so that the phenomenon of differential in supporting legs is eliminated and the foot velocity is guaranteed to be continuous. After simulation again, the results show that feet-slippage and laterodeviation are solved.
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descriptionIn order to test the result of straight-line walking driven by simple cycloid foot trajectory, a kind of quadruped robot is proposed and Adams software is used to simulate the gait. According to the results, the shortage of simple cycloid foot trajectory is analyzed, that the unequal velocity of supporting feet was the key cause of feet-slippage and laterodeviation in the process of simulation. Thereby, the supporting phase of cycloid gait is smoothed, so that the phenomenon of differential in supporting legs is eliminated and the foot velocity is guaranteed to be continuous. After simulation again, the results show that feet-slippage and laterodeviation are solved.
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abstractIn order to test the result of straight-line walking driven by simple cycloid foot trajectory, a kind of quadruped robot is proposed and Adams software is used to simulate the gait. According to the results, the shortage of simple cycloid foot trajectory is analyzed, that the unequal velocity of supporting feet was the key cause of feet-slippage and laterodeviation in the process of simulation. Thereby, the supporting phase of cycloid gait is smoothed, so that the phenomenon of differential in supporting legs is eliminated and the foot velocity is guaranteed to be continuous. After simulation again, the results show that feet-slippage and laterodeviation are solved.
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