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This paper presents a novel locomotion control framework that achieves stable galloping gait for a torque-controlled quadruped robot. By analytically exploiting the stance dynamics of the Spring-Loaded Inverted Pendulum (SLIP) model, a two-layered Dual-SLIP model based Task-space Formulation (DS-TSF) is developed to control the 12-DoF quadruped robot with an active spine. On the higher layer, a dead-beat...
Identifying planetary soil parameters is not only an important scientific goal, but also necessary for exploration rover to optimize its control strategy and realize high-fidelity simulation. An improved wheel-soil interaction mechanics model is introduced, and it is then simplified by linearizing the normal stress and shearing stress to derive closed-form analytical equations. Eight unknown soil...
Virtual simulation is of great importance for both the research and development phase and the tele-operation phase of a lunar rover. The role and state-of-the-art of rover's simulation is introduced in the beginning. Comprehensive high-fidelity/high-speed virtual simulation system for lunar rover is designed in accordance with the developing trend. Key technologies such as terramechanics and recursive...
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