Title: Design and analysis of active vibration and stability control of a bio-inspired quadruped robot

Authors: D. Vishal; P.V. Manivannan

Addresses: Precision Engineering and Instrumentation Laboratory, Department of Mechanical Engineering, IIT Madras, Chennai-36, India ' Precision Engineering and Instrumentation Laboratory, Department of Mechanical Engineering, IIT Madras, Chennai-36, India

Abstract: The main aim of this research work is to design and develop a bio-inspired quadruped robot for operating in an uneven terrain. The present work focus on development of a gear-train power transmission mechanism, which is more efficient, as the gear assemblies can be optimised for generating different locomotion patterns. The kinematic and dynamic analysis of the limb analysis has been carried out. The modelling of mechanism and measurement and motion analysis has been carried out using ProE Wildfire software and the results have been presented in this paper.

Keywords: bio-inspired; gear-train power transmission; locomotion pattern; kinematic and dynamic analysis; modal and harmonic analysis.

DOI: 10.1504/IJCVR.2017.087734

International Journal of Computational Vision and Robotics, 2017 Vol.7 No.6, pp.712 - 722

Received: 04 May 2015
Accepted: 05 Aug 2015
Published online: 01 Nov 2017 *

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