The flying robot system can move freely in three-dimensional space and has the characteristics of strong maneuverability and high flexibility. However, the existing flying robot systems can only complete some tasks in a single space. With the expansion of robot applications, flying robots are expected to have a more comprehensive impact on their environment. Therefore, the amphibious robot system arises at the historic moment. In order to solve the problem of poor terrain adaptability of amphibious robot,this paper mainly introduces a kind of quadruped robot with flying ability, called “FlyingDog”, which combines the structure of quadruped aircraft and quadruped robot, and can realize flight and ground motion. The main contributions of this paper are that firstly, the mathematical model of the robot is established by using Lagrangian dynamics. Then the cascade double closed loop PID is used to complete the flight control of the robot, and the virtual model control is used to realize the ground motion. Finally, the simulation is completed in Webots software. The experimental results show that the control method can ensure that the robot can run smoothly in any motion mode, and can switch steadily between the two modes. This work explores the realization of amphibious robot and lays a research foundation for the development of robot in the future.
Modeling and Control of Quadruped Robot with Flying Capability
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Chapter : 274 ; 2965-2976
2023-03-10
12 pages
Article/Chapter (Book)
Electronic Resource
English