Structure optimization and gait analysis of parallel quadruped robot

2021 ◽  
Author(s):  
Ying Tian ◽  
Weiting Shen ◽  
Qiang Zhang ◽  
Jingpeng Su ◽  
Wanshun Zang
Keyword(s):  
Gait Analysis ◽  
Structure Optimization ◽  
Quadruped Robot

OPTIONAL DESIGN OF LEG STRUCTURE OF BIONIC QUADRUPED ROBOT

2013 ◽  
Vol 13 (06) ◽  
pp. 1340016 ◽  
Author(s):  
BIN CHEN ◽  
ZHIYONG TANG ◽  
ZHONGCAI PEI
Keyword(s):  
Optimal Design ◽  
Theoretical Basis ◽  
Structure Optimization ◽  
Quadruped Robot ◽  
Length Ratio ◽  
Motor Ability ◽  
Complicated Structure ◽  
Research Results ◽  
Robot Leg ◽  
Robot Body

A kind of new bionic quadruped robot-Hound was designed. Determined the structure of the robot body and geometry relationships based on the bionics research, especially the structure of legs which was the root of robot action. According to the problem of abundant leg segments and complicated structure, studied on achieving the optimal design of leg structure so as to increase the workspace area of robot leg and improve the flexibility of robot body. Found the best length ratio of leg segments through the analysis of the workspace, flexibility, obstacle crossing height of robot. These research results provided the reliable theoretical basis for the structure optimization of robot leg and could greatly promote the motor ability of hydraulic quadruped robot.

scholarly journals Creeping Gait Analysis and Simulation of a Quadruped Robot

2019 ◽  
Vol 14 (2) ◽  
pp. 93-106
Author(s):  
Firas A. Raheem ◽  
Murtadha Khudhair Flayyih
Keyword(s):  
Sequence Analysis ◽  
Gait Analysis ◽  
Inverse Kinematic ◽  
Quadruped Robot ◽  
Legged Robot ◽  
Stability Margins ◽  
Robot Locomotion ◽  
Quadruped Robots ◽  
Kinematic Models ◽  
The Stability

A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits:  creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.

Force Plate Analysis of Dogs with Bilateral Hip Dysplasia Treated with a Unilateral Triple Pelvic Osteotomy: A Long-term Review of Cases

1998 ◽  
Vol 11 (02) ◽  
pp. 85-93 ◽  
Author(s):  
Joanne R. Cockshutt ◽  
H. Dobson ◽  
C. W. Miller ◽  
D. L. Holmberg ◽  
Connie L. Taves ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Hip Dysplasia ◽  
Weight Bearing ◽  
Force Plate ◽  
Case Series ◽  
Pelvic Osteotomy ◽  
Vertical Force ◽  
Long Term Outcome ◽  
Case Series Study

SummaryA retrospective case series study was done to determine the long-term outcome of operations upon dogs treated for canine hip dysplasia by means of a triple pelvic osteotomy (TPO). Twentyfour dogs with bilateral hip dysplasia, that received a unilateral TPO between January 1988 and June 1995, were re-examined at the Ontario Veterinary College. The assessment included physical, orthopedic and lameness examinations, standard blood work, pelvic radiographs and force plate gait analysis. They were compared to bilaterally dysplastic dogs that had not been treated, and also to normal dogs. Force plate data analysis demonstrated a significant increase in peak vertical force (PVF) and mean vertical force over stance (MVF) in the limb that underwent surgical correction by means of a TPO, when compared to the unoperated hip. It was determined that performing a unilateral TPO on a young dysplastic dog resulted in greater forces and weight bearing being projected through the TPO corrected limb when compared to the unoperated limb.Dogs with bilateral hip dysplasia treated with a unilateral triple pelvic osteotomy (TPO) were assessed by force plate gait analysis, radiographs and orthopedic examination. There was a significant increase in hip Norberg angles over time, although degenerative changes did progress. Limbs that had been operated upon had significantly greater peak and mean ground reaction forces than limbs that had not received an operation.

Lead structure optimization of compounds identified to induce differentiation in solid tumors

2018 ◽  
Author(s):  
K Esser ◽  
A Kulik ◽  
A Klinger ◽  
E Fleischer ◽  
H Neubauer ◽  
...  
Keyword(s):  
Solid Tumors ◽  
Structure Optimization ◽  
Lead Structure
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