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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...
This paper deals with the interaction forces between robotic foot and the soft terrain, in conjunction with the Terzaghi theory. To date, some basic assumptions and conclusions for Terzaghi theory are analyzed. Terzaghi is recognized as a popular option to predict the bearing capacity of the terrain with upper structures. In this paper, static models in Terzaghi theory and its extended versions are...
Due to the existence of clearances, contact-impact events are liable to cause lower transmission precision and slower dynamic response of the mechanism involving revolute joints. Based on the elastic-damping method, the continuous contact force (CCF) model is widely used in explicating the contact-impact phenomena. As part of storing and releasing strain energy in the CCF model, the elastic force...
The absolute nodal coordinate formulation is suitable for the structural analysis with large rotation and deformation. The nodal coordinates include global displacement coordinates and slopes which are established in the global coordinate system without using any local coordinate, and the mass matrix is constant. In this paper, the static problem based on the absolute nodal coordinate formulation...
It is presented in this paper that a novel soil drilling sampler which can be used to drill deeply automatically in the planetary soil. There are three transmission routes of motion in the drilling sampler: rotating drive mechanism and feeding drive mechanism are used to generate the rotary and axial movement of the driller respectively while impacting drive mechanism is used to assist drilling the...
In the planetary exploration by the wheeled rover, owing to the soft terrain, the longitudinal and lateral slippage always exists while the rover is running which will influence the security of the rover and the success of missions. Therefore, this paper proposes a method to online estimate the longitudinal and lateral slippage based on the rover's state information. To solve the unknown local coordinate...
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