Abstract
In the field of robotics, small cat-like robots, due to its small size, good flexibility, low energy consumption, has become a research trend. Elastic four-bar linkage mechanism (EFLM) with programmable trajectory, good stability, and certain buffer performance, is an excellent choice for driver design of small quadruped robot. We designed a novel miniature cat-like robot, Og-cat, which is optimized in structural features and special parameters compared with other similar quadruped robots. Moreover, we developed a method that can make leg trajectory implement accurately for robots using EFLM. A trajectory realization function is obtained through MATLAB fitting so that the trajectory can be executed precisely. The proposed method has been confirmed on our small quadruped robot Og-cat.
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Acknowledgment
This work was supported in part by the National Natural Science Foundation of China under Grant 61673069 and Grant 61703044.
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© 2019 CISM International Centre for Mechanical Sciences
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He, Z. et al. (2019). Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_41
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DOI: https://doi.org/10.1007/978-3-319-78963-7_41
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