Kinematic analysis of a double-closed-loop four-bar chain-based leg for a multimodal quadruped-pentarotor robot
Overview
This research paper presents the kinematic modeling and singularity analysis of a three-degree-of-freedom, double four-bar closed-loop quadruped leg mechanism designed for a multimodal quadruped-pentarotor robot. The study examines the leg in both joint and task spaces to develop its Jacobian matrix, which is crucial for designing gaits for terrestrial mode and mid-air aerial reconfiguration. Various gaits were devised through MATLAB simulations, and their practical implementation was demonstrated on a single-leg test rig.
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- arXiv Robotics — research abstractsSignalKinematic analysis of a double-closed-loop four-bar chain-based leg for a multimodal quadruped-pentarotor robot
This research paper presents the kinematic modeling and singularity analysis of a three-degree-of-freedom, double four-bar closed-loop quadruped leg mechanism designed for a multimodal quadruped-pentarotor robot. The study examines the leg in both joint and task spaces to develop its Jacobian matrix, which is crucial for designing gaits for terrestrial mode and mid-air aerial reconfiguration. Various gaits were devised through MATLAB simulations, and their practical implementation was demonstrated on a single-leg test rig.
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