A Kinematical and Dynamical Analysis of a （运动学和动力学分析）.pdf

0 12 A Kinematical and Dynamical Analysis of a Quadruped Robot Alain Segundo Potts and Jos Jaime da Cruz University of So Paulo Brazil 1. Introduction In general, legged locomotion requires higher degrees of freedom and therefore greater mechanical complexity than wheeled locomotion. Wheeled robots are simple in general, and more efficient than legged locomotion on flat surfaces. Yet as the surface turns softer, wheeled locomotion becomes inefficient due to rolling friction. Furthermore, in some cases, wheeled robots are unable to overcome small obstacles. On the other hand, legged robots are more easily adaptable to different kinds of terrains due to the fact that only a set of point contacts is required; thus, the quality of the ground between those points does not matter as long as the robot can maintain appropriate ground clearance. Legged robots appear as the sole means of providing locomotion in highly unstructured environments. However, they cannot traverse every type of uneven terrain because they are of limited dimensions. Hence, if there are terrain irregularities such as a crevasse wider than the maximum horizontal leg reach or a cliff of depth greater than the maximum vertical leg reach, then the machine is prevented from making any progress. This limitation, however, can be overcome by providing the machine with the capability of attaching its feet to the terrain. Moreover, machine functionality is limited