“RUNNING” the bionic quadruped robot is a ground unmanned vehicle for supporting, transporting and following, which demand sound mobility on rough terrain. In this paper, several technical characteristics were concluded, including walking and actuating system, forward and inverse kinematics of the leg structure, gaits of trot and walk, and the control algorithm of force balancing. The off-road performance of “RUNNING” during “2016 Crossing the Obstacles” challenge match was summarized. The future research was prospected.
“RUNNING” — The bionic quadruped robot
2017-10-01
835130 byte
Conference paper
Electronic Resource
English