Stability analysis of a three-dimensional quadruped trotting robot with passive compliant legs

Update Item Information
Title Stability analysis of a three-dimensional quadruped trotting robot with passive compliant legs
Publication Type thesis
School or College College of Engineering
Department Mechanical Engineering
Author Samadi, Mohammad Reza Yazdi
Date 2012-12
Description This research studies the passive dynamics of an under-actuated trotting quadruped. The goal of this project is to perform three-dimensional (3D) dynamic simulations of a trotting quadruped robot to find proper leg configurations and stiffness range, in order to achieve stable trotting gait. First, a 3D simulation framework that includes all the six degrees of freedom of the body is introduced. Directionally compliant legs together with different leg configurations are employed to achieve passive stability. Compliant legs passively support the body during stance phase and during flight phase a motor is used to retract the legs. Leg configurations in the robot's sagittal and frontal plane are introduced. Numerical experiments are conducted to search the design space of the leg, focusing on increasing the passive stability of the robot. Increased stability is defined as decreased pitching, rolling, and yawing motion of the robot. The results indicate that optimized leg parameters can guarantee passive stable trotting with reduced roll, pitch, and yaw. Studies suggest that a quadruped robot with compliant legs is dynamically stable while trotting. Results indicate that the robot based on a biological model (i.e., caudal inclination of humeri and cranial inclination of femora) has the best performance. Stiff springs at hips and shoulders, soft spring at knees and elbows, and stiff springs at ankles and wrists are recommended. The results of this project provide a conceptual framework for understanding the movements of a trotting quadruped.
Type Text
Publisher University of Utah
Subject Robots - Dynamics; Mobile robots; Locomotion
Dissertation Institution University of Utah
Dissertation Name Master of Science
Language eng
Rights Management Copyright © Mohammad Reza Yazdi Samadi 2012
Format application/pdf
Format Medium application/pdf
Format Extent 1,668,956 bytes
ARK ark:/87278/s6ms47k2
Setname ir_etd
ID 195738
Reference URL https://collections.lib.utah.edu/ark:/87278/s6ms47k2
Back to Search Results