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A novel human-carrying quadruped walking robot

Sang, Lingfeng; Wang, Hongbo; Yu, Hongnian; Vladareanu, Luige


Lingfeng Sang

Hongbo Wang

Luige Vladareanu


This article adopts a 2-UPS+UP (U, P, and S are universal joint, the prismatic joint, and sphere joint, respectively) parallel mechanism as the leg mechanism of the quadruped walking robot based on the bionic concept and the motion capacity of the leg mechanism. The article investigates the kinematics (including the leg mechanism and the whole mechanism), gait planning, control, and experiment in detail. The following tasks are conducted: (1) designing the whole mechanism and developing the kinematics equations for both the leg mechanism and the whole mechanism; (2) planning the trotting gait and designing the foot trajectory based on the robot characteristics and conducting the kinematics analysis; (3) building the control system of the robot using self-developed controllers and drivers and studying the compound position control strategy; and (4) conducting the experiments for validating the controller, the compound position control strategy, the trotting pace, carrying capacity, and human-carrying walking. The results confirm that the proposed human-carrying walking robot has good performance and it is also verified that the controller and the compound position control strategy are suitable.

Journal Article Type Article
Acceptance Date Jun 1, 2017
Online Publication Date Jul 20, 2017
Publication Date 2017-07
Deposit Date Jun 17, 2022
Publicly Available Date Jun 21, 2022
Journal International Journal of Advanced Robotic Systems
Print ISSN 1729-8806
Electronic ISSN 1729-8814
Publisher InTech
Peer Reviewed Peer Reviewed
Volume 14
Issue 4
Article Number 172988141771659
Keywords Human-carrying walking, parallel leg mechanism, carrying capacity, kinematics analysis, experiment research
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