Simulation Platform of Underwater Quadruped Walking Robot Based on MotionGenesis Kane 5.3 and Central Pattern Generator

Ke Yang, Xu-Yang Wang, Tong Ge, Chao Wu

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)



Abstract:

It will still in lack of a simulation platform used to learn the walking of underwater quadruped walking robot. In order to alleviate this shortage, a simulation platform for the underwater quadruped walking robot based on Kane dynamic model and CPG-based controller is constructed. The Kane dynamic model of the underwater quadruped walking robot is processed with a commercial package MotionGenesis Kane 5.3. The forces between the feet and ground are represented as a spring and damper. The relation between coefficients of spring and damper and stability of underwater quadruped walking robot in the stationary state is studied. The CPG-based controller consisted of Central Pattern Generator (CPG) and PD controller is presented, which can be used to control walking of the underwater quadruped walking robot. The relation between CPG parameters and walking speed of underwater quadruped walking robot is investigated. The relation between coefficients of spring and damper and walking speed of underwater quadruped walking robot is studied. The results show that the simulation platform can imitate the stable walking of the underwater quadruped walking robot.

Key words:  underwater quadruped walking robot  MotionGenesis Kane 5.3  CPG

DOI£º10.11916/j.issn.1005-9113.2014.03.004

Clc Number:TP242.6

Fund: