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A Dynamic Modeling and Analysis for High-speed Walking of a Quadrupedal Robot
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 Title & Authors
A Dynamic Modeling and Analysis for High-speed Walking of a Quadrupedal Robot
Kang, Sung-Chul; Yoo, Hong-Hee; Kim, Mun-Sang; Lee, Kyo-Il;
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 Abstract
In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.
 Keywords
Quadrupedal Walking Robot;Dynamics;Trot Gait;Equation of Motion;Torque Redundancy;Dynamic Simulation;
 Language
Korean
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