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Modeling and base parameters identification of legged robots

Published online by Cambridge University Press:  18 October 2021

Xu ChangOpen the ORCID record for Xu Chang[Opens in a new window],
Honglei An and
Hongxu Ma
Xu Chang
Affiliation:
Robotics Research Center, College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China
Honglei An*
Affiliation:
Robotics Research Center, College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China
Hongxu Ma
Affiliation:
Robotics Research Center, College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China
*
*Corresponding author. E-mail: eric_nudt@163.com
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Abstract

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This paper first uses a decoupling modeling method to model legged robots. The method groups all the degrees of freedom according to the number of limbs, regarding each limb as a manipulator with serial structure, which greatly reduces the number of dynamic parameters that need to be identified simultaneously. On this basis, a step-by-step identification method from the end-effector link to the base link, referred to as “E-B” identification method, is proposed. Simulation verification is carried out on a quadruped robot with 16 degrees of freedom in Gazebo, and the validity of the method proposed is discussed.

Keywords

legged robotsdecoupling modelingidentificationdynamicsbase parameters

Information

Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022, pp. 747 - 761
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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