Modeling of a Quadruped Robot with Spine Joints and Full-Dynamics\n Simulation Environment Construction

摘要

This paper presents modeling and simulation of a spined quadruped robot.\nExtended literature survey is employed and spine joints researches of the\nquadruped robots are classified. Most of the researchers execute simplified\nquadruped robot models in their simulations. This survey reveals the need for\nthe full-body spined quadruped simulation environment. First, the kinematics\nand dynamics modeling of the active spined quadruped robot is obtained. Since\nquadruped robots are floating-base robots, all derivations are performed with\nrespect to an inertial frame. The motion equations are acquired by the\nLagrangian approach. The simulation environment is constructed in the\nMATLAB/Simulink platform, considering its rich library, powerful solvers, and\nsuitable and resilient environment in integrating controllers. The computation\nspeed of the simulation environment is increased by using optimized MATLAB\nfunctions. Precise and accurate contact model is utilized in the simulation\nenvironment. We foreseen that the provided full-dynamics simulation environment\nwill be helpful for further spine joint studies on the quadruped robot field.\n