{"title":"基于奇异系统理论的四足步行机器人建模与分析","authors":"M. Sadati, M. Hosseinzadeh, M. Shafiee","doi":"10.1109/IRANIANCEE.2013.6599739","DOIUrl":null,"url":null,"abstract":"In this paper, the modelling and analysis problem of a planar quadruped walking robot with eight degrees of freedom using singular system theory is investigated. First, a brief description about singular system is given and then, the singular model of the quadruped robot is derived. Because of the complexity of the singular model of the robot, we linearized it around the contact point of the leg and the ground, and based on this model it is shown that impulses are generated in the force which exists between leg and ground in the contact points.","PeriodicalId":383315,"journal":{"name":"2013 21st Iranian Conference on Electrical Engineering (ICEE)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Modelling and analysis of quadruped walking robot using singular system theory\",\"authors\":\"M. Sadati, M. Hosseinzadeh, M. Shafiee\",\"doi\":\"10.1109/IRANIANCEE.2013.6599739\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the modelling and analysis problem of a planar quadruped walking robot with eight degrees of freedom using singular system theory is investigated. First, a brief description about singular system is given and then, the singular model of the quadruped robot is derived. Because of the complexity of the singular model of the robot, we linearized it around the contact point of the leg and the ground, and based on this model it is shown that impulses are generated in the force which exists between leg and ground in the contact points.\",\"PeriodicalId\":383315,\"journal\":{\"name\":\"2013 21st Iranian Conference on Electrical Engineering (ICEE)\",\"volume\":\"48 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-05-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 21st Iranian Conference on Electrical Engineering (ICEE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IRANIANCEE.2013.6599739\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 21st Iranian Conference on Electrical Engineering (ICEE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IRANIANCEE.2013.6599739","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Modelling and analysis of quadruped walking robot using singular system theory
In this paper, the modelling and analysis problem of a planar quadruped walking robot with eight degrees of freedom using singular system theory is investigated. First, a brief description about singular system is given and then, the singular model of the quadruped robot is derived. Because of the complexity of the singular model of the robot, we linearized it around the contact point of the leg and the ground, and based on this model it is shown that impulses are generated in the force which exists between leg and ground in the contact points.
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