RAS Energy, Mechanics & ControlИзвестия Российской академии наук. Теория и системы управления Journal of Computer and System Sciences International

  • ISSN (Print) 0002-3388
  • ISSN (Online) 3034-6444

MORS: BLDC BASED SMALL SIZED QUADRUPED ROBOT

PII
S30346444S0002338825030146-1
DOI
10.7868/S3034644425030146
Publication type
Article
Status
Published
Authors
Volume/ Edition
Volume / Issue number 3
Pages
152-176
Abstract
The article describes the mechanical design, electronics and control software of the new quadruped robot MORS. The robot is intended for education and research fields. It is relatively small and lightweight and has modular design to simplify production and assembly. The robot is driven by brushless DC motors governed by the Field-Oriented Control. The trot gait is chosen as the basic one. The locomotion control algorithm is based on Zero Moment Point Preview Control method. The desired zero moment point is generated by tracking the intersection of projections of diagonally opposite legs. Software of the robotic platform is completely open sourced. To test the performance of all robot components, a number of experiments were conducted both in simulation and on the hardware platform. The experimental results demonstrate the efficiency of the robot walking in different directions with velocity up to 1.2 m/s and a load capacity of up to 7 kg, which is almost equal to its own weight.
Keywords
четырехногий робот динамическая ходьба бесколлекторный двигатель точка нулевого момента
Date of publication
16.10.2024
Year of publication
2024
Number of purchasers
0
Views
55

References

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