Optimization of Leg Mechanism and PD Control for Efficient Quadruped Robot Locomotion

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Article Type:
Research/Original Article (دارای رتبه معتبر)
Abstract:

This paper presents the design and control of a quadruped robot. One of the primary challenges in building quadruped robots is the need for high torque density actuators and an efficient control algorithm. To address these challenges, this work focuses on optimizing the transmission torque ratio of the 4-bar linkage used in the robot's legs, using a genetic algorithm. The optimization is achieved by deriving the kinematic equations of the robot’s legs and introducing a novel objective function tailored to the robot’s application. To evaluate the impact of the optimization, the full dynamics of the robot are derived and validated through variations in total mechanical energy. A kinematics-based controller, suitable for real-time applications, is proposed, and its performance is tested in various scenarios to assess its effectiveness. The controller is applied to robots with two different linkage lengths, one optimized for maximum and the other for minimum torque requirements. The results show that the optimization reduces the required torque by nearly 42% when comparing the maximum to the minimum case.

Language:
English
Published:
Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, Volume:16 Issue: 3, Sep 2024
Pages:
41 to 60
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