Development of Planar Legged Models as Templates and Their Application to Leaping/Flipping and Running Behaviors in a Quadruped Robot

• Main Authors: Kuan-Yu Tseng, 曾冠語
• Other Authors: Pei-Chun Lin
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/y9c78p

碩士 === 國立臺灣大學 === 機械工程學研究所 === 107 === This research demonstrates the development of new planar models and their applications to a new quadruped robot. First, the quadrueped robot propelled by directdrive brushless motors is built, and its mechatronic system is intergrated with laboratory’s mechatronic system. The advantages of the new robot are low weight and high-torque output so that the robot can perform more dynamic motions. This research develops the planar model two-leg rolling SLIP (Two-leg R-SLIP). The model includes a rigid body and two circular compliant legs to investigate the body’s dynamic and how forces and moments are transmitted from the ground to the body through the foreleg and hindleg. The model’s equations of motion were derived, and the model was applied to inspecting leaping/flipping beheaviors of the quadruped robot. The simulation results indicate that different factors dominate different indices of the motion. The experiments validated the simulation result and the robot can perform leaping and flipping behaviors predicted by the model. Clock-based torqued control is added on leg orientations of the model to develop two-leg clock-torqued rolling SLIP (Two-leg CTR-SLIP) model. By planning the trajectories of two legs, the model can be utilized to investigate transient and steady states of robot’s running behaviors. Friction between the ground and the legs is also considered so that the model can better fit real conditions. The simulation results indicate that the dynamic of the planar model is more complex than that of the single-legged model, and that the convergent regions of two models differ. The experiment results proved the model can capture the features of transient and steady states of running beheaviors. The research also aims to develop the planar model with different functionality between the foreleg and hindleg, introducing two-leg clock-torqued eccentric SLIP (Twoleg CTe-SLIP) model. The model contains the foreleg and hindleg with differnent morphology to alter touchdown angles of two legs, which stimulates the differentiation of functions. The model is utilized to investigate robot’s running behaviors by planning the trajectories of two legs. The results of simulations and experiments showed that the model and robot with differnent legs’ morphology can both perform stable running motions, and that the two legs perform differentiated force patterns corresponding with animal-like dynamic.