2022/03/17 by Omer Kemal Adak, Ömer Kemal Adak, Beste Bahçeci +5 · 1 citation
Computer Science · Engineering · Medicine · #Aerospace Engineering and Energy Systems #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #Human Motion and Animation #Robotic Locomotion and Control #Robotics (cs.RO) #Winter Sports Injuries and Performance #cs.RO
paper · pdf · doi:10.48550/arxiv.2203.09622
25 pages, 4 figures, journal
arxiv created 2022/03/17 · openalex publication_date 2022/03/17 · arxiv updated 2022/03/21 · openalex created_date 2022/04/03 · openalex updated_date 2026/07/28
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot models in their simulations. This survey reveals the need for the full-body spined quadruped simulation environment. First, the kinematics and dynamics modeling of the active spined quadruped robot is obtained. Since quadruped robots are floating-base robots, all derivations are performed with respect to an inertial frame. The motion equations are acquired by the Lagrangian approach. The simulation environment is constructed in the MATLAB/Simulink platform, considering its rich library, powerful solvers, and suitable and resilient environment in integrating controllers. The computation speed of the simulation environment is increased by using optimized MATLAB functions. Precise and accurate contact model is utilized in the simulation environment. We foreseen that the provided full-dynamics simulation environment will be helpful for further spine joint studies on the quadruped robot field.