In the field of robotics, small cat-like robots, due to its small size, good flexibility, low energy consumption, has become a research trend. Elastic four-bar linkage mechanism (EFLM) with programmable trajectory, good stability, and certain buffer performance, is an excellent choice for driver design of small quadruped robot. We designed a novel miniature cat-like robot, Og-cat, which is optimized in structural features and special parameters compared with other similar quadruped robots. Moreover, we developed a method that can make leg trajectory implement accurately for robots using EFLM. A trajectory realization function is obtained through MATLAB fitting so that the trajectory can be executed precisely. The proposed method has been confirmed on our small quadruped robot Og-cat.
CITATION STYLE
He, Z., Meng, F., Liu, H., Wang, L., Zhu, X., Fan, X., … Huang, Q. (2019). Method of Design Optimization and Trajectory Implementation on a Small Cat-Like Robot. In CISM International Centre for Mechanical Sciences, Courses and Lectures (Vol. 584, pp. 323–330). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_41
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