Abstract
When working in a complex and unmanned environment, a quadruped robot is likely to lose motion when tilted by external interference; therefore, the robot must be able to recover from tilting. The conventional recovery solution can only rely on the movement of the legs, whereas the reconfigurable quadruped robot can accomplish self-recovery of the quadruped robot after capsizing through the coordinated movement of the torso and legs. In this paper, based on the configurational variability of the reconfigurable torso, a variety of bionic forms are obtained, and a variety of post-tip recovery schemes are planned, and four post-tip recovery schemes are compared and analyzed from the perspective of force and energy. Simulation of each scheme is carried out to verify the feasibility of the implementation of each scheme, and the data of each scheme are analyzed to arrive at a better post-collapse recovery scheme, and finally a theoretical prototype is fabricated.
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Liu, Y., Zhang, C. (2023). Reconfigurable Torso-Based Quadruped Robot for Post-tilt Recovery. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_25
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DOI: https://doi.org/10.1007/978-981-99-6489-5_25
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