Trajectory and Gait Planning of a Quadruped using Adams and Simulink
- Resource Type
- Conference
- Authors
- Morais, Steve; Singh, Harshit; Acharya, Abhijit
- Source
- 2021 4th Biennial International Conference on Nascent Technologies in Engineering (ICNTE) Nascent Technologies in Engineering (ICNTE), 2021 4th Biennial International Conference on. :1-6 Jan, 2021
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Fields, Waves and Electromagnetics
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Actuators
Solid modeling
Software packages
Turning
Stability analysis
Trajectory
Planning
Quadruped
control strategy
MSC Adams
MATLAB
Simulink
PID
- Language
This paper presents the development of a control strategy for an electrically actuated 8 DOF quadruped robot. The robot was modelled in SolidWorks and was then imported in MSC Adams environment and a co-simulation was performed along with MATLAB Simulink. The robot has 8 speed driven linear actuators which are to be controlled appropriately to produce the required motion in the robot. The kinematic equations pertaining to the designed robot were derived after which the required trajectory equation and gait patterns for the robot's movement were planned. With the help of these equations a PID control-based algorithm was developed to provide desired speed to the actuators. Finally, a dynamic simulation was performed to verify the stability of the robot while executing forward and turning motion, the results of which are also discussed.