Dynamics Analysis of a Single Leg of Quadruped Robots Based on Udwadia-Kalaba Theory

Liang Bin; Yuan Liang; Ran Teng; Xiao Wendong; He Li

doi:10.16578/j.issn.1004.2539.2022.12.001

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Dynamics Analysis of a Single Leg of Quadruped Robots Based on Udwadia-Kalaba Theory

Theory·Research | 更新时间：2023-01-06

- Dynamics Analysis of a Single Leg of Quadruped Robots Based on Udwadia-Kalaba Theory
- Journal of Mechanical Transmission Vol. 46, Issue 12, Pages: 1-6(2022)
- 作者机构：
  
  1.新疆大学机械工程学院，新疆乌鲁木齐 830047
  2.北京化工大学信息科学与技术学院，北京 100029
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.12.001
  CLC：
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梁斌,袁亮,冉腾等.基于Udwadia-Kalaba理论的四足机器人单腿动力学分析[J].机械传动,2022,46(12):1-6.

Liang Bin,Yuan Liang,Ran Teng,et al.Dynamics Analysis of a Single Leg of Quadruped Robots Based on Udwadia-Kalaba Theory[J].Journal of Mechanical Transmission,2022,46(12):1-6.
梁斌,袁亮,冉腾等.基于Udwadia-Kalaba理论的四足机器人单腿动力学分析[J].机械传动,2022,46(12):1-6. DOI： 10.16578/j.issn.1004.2539.2022.12.001.

Liang Bin,Yuan Liang,Ran Teng,et al.Dynamics Analysis of a Single Leg of Quadruped Robots Based on Udwadia-Kalaba Theory[J].Journal of Mechanical Transmission,2022,46(12):1-6. DOI： 10.16578/j.issn.1004.2539.2022.12.001.

摘要

处理多体系统动力学问题的传统方法是拉格朗日方法，但是在求解过程中会引入拉格朗日乘子，增加了求解显式动力学方程的难度。针对四足机器人动力学建模复杂的问题，基于Udwadia-Kalaba（UK）理论研究了四足机器人的单腿模型，建立了一种求解其显式动力学方程的新方法。为了简化获得方程的过程，使用UK方程来处理运动约束。考虑到真实环境的不确定性，利用滑模控制原理设计了一个非线性控制器来跟踪运动轨迹。数值模拟结果证明了动力学方程与控制器的正确性和有效性。

Abstract

Traditionally, the Lagrangian method is used to deal with the dynamics of multi-body systems. However, in the solution process, Lagrangian multipliers are introduced, which increases the difficulty of solving the explicit dynamics equations. To address the complex problem of modeling the dynamics of a quadruped robot, a single-legged model of quadruped robots based on Udwadia-Kalaba (UK) theory is investigated and a new method for solving its explicit dynamics equations is established. To simplify the process of obtaining the equations, the UK equation is used to deal with the motion constraints. Considering the uncertainty of the realistic environment, a nonlinear controller is designed to track the motion trajectory using the principle of sliding mode control. The results of numerical simulations prove the correctness and effectiveness of the dynamics equations and the controller.

关键词

Udwadia-Kalaba理论动力学模型四足机器人滑模控制

Keywords

Udwadia-Kalaba theoryDynamics modelQuadruped robotSliding mode control

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