2011
IMAACA 2011 Proceeding
Study of Coupled Dynamics Between Body and Legs of a Four Legged Walking Robot
Authors: Krishnan L. V., Pathak P. M., Jain S. C.
Abstract
The paper presents a study of coupled dynamics between body and legs of a four legged robot with two articulate joints per leg. This study brings out the influence produced by the ground reaction forces through robot legs on the posture of robot body i.e. body rotations about X, Y and Z axis. An object oriented approach has been used for the bond graph modeling of locomotion dynamics of the four legged robot while taking into consideration the robot-ground interaction forces. Detailed kinematics analysis of a single leg has been carried out. Sub-model created for a single leg is repeatedly used for developing the bond graph model of the four legged walking robot. A multi bond graph is used to represent the system. A dynamical gait is proposed and implemented through joint control. Joint control has been achieved using a proportional derivative control law for each joint of the four legged robot. The robot locomotion has been successfully demonstrated through simulation and experiments on a robot prototype.
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