TY - GEN
T1 - Simulation study of a spider-like robot based on leg reorganization
AU - Wang, Shu Qi
AU - Fan, Ji Zhuang
AU - Zhang, Kuan
AU - Zhang, Wei
AU - Liu, Gang Feng
AU - Zhao, Jie
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - This paper presents a four-legged bionic robot based on leg reorganization with the hunter spider as the bionic research object. By studying the biological structure of the hunter spider, its movement mode, and the characteristics of limb movement during the conversion process is analyzed and the principle of wheel and foot conversion of the robot is obtained. The three-dimensional model of the bionic robot is designed, and the overall assembly of the bionic structure model is completed. The rationality of the design of the bionic structure is initially verified by the leg reorganization. The virtual prototype is built by adding constraints to realize the bionic motion simulation, including in-situ rotary motion, foot-wheel conversion motion, wheel motion, wheel-foot conversion motion, foot motion, which provides a theoretical basis for the development of the physical prototype and the selection of hardware.
AB - This paper presents a four-legged bionic robot based on leg reorganization with the hunter spider as the bionic research object. By studying the biological structure of the hunter spider, its movement mode, and the characteristics of limb movement during the conversion process is analyzed and the principle of wheel and foot conversion of the robot is obtained. The three-dimensional model of the bionic robot is designed, and the overall assembly of the bionic structure model is completed. The rationality of the design of the bionic structure is initially verified by the leg reorganization. The virtual prototype is built by adding constraints to realize the bionic motion simulation, including in-situ rotary motion, foot-wheel conversion motion, wheel motion, wheel-foot conversion motion, foot motion, which provides a theoretical basis for the development of the physical prototype and the selection of hardware.
KW - Bionic robot
KW - Leg reorganization
KW - Virtual prototype
KW - Wheel-foot integration
UR - https://www.scopus.com/pages/publications/85115427872
U2 - 10.1109/RCAR52367.2021.9517527
DO - 10.1109/RCAR52367.2021.9517527
M3 - 会议稿件
AN - SCOPUS:85115427872
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 1374
EP - 1378
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Y2 - 15 July 2021 through 19 July 2021
ER -