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Abstract: The natural constraint conditions of a quadruped robot,
called TITAN-VIII, are discussed. The position and velocity
relationships between the independent actuation joints and the redundant
ones of the robot are also derived from the constraints. Furthermore,
the direct kinematic solution of the position and velocity of the body
is presented in terms of the independent actuation variables. It is
shown that the robot can omnidirectionally crawl on rough ground as long
as its body is parallel to the support surfaces of its feet on the
ground. It is also found out that the kinematic solution needs to solve
a sixteenth-order polynomial equation with an unknown variable. A
numerical example is presented and the results are verified by an
inverse kinematics analysis and an experiment.
Key words: Quadruped robot Direct kinematics Constraints
CLC No: TP24
国家863计划资助项目(2001AA422380).
Received 20011118, received in revised form 20020630
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