Kang Wang
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Kang Wang has a total of 3 co-authors. Here are the top co-authors by number of shared publications:
- Fei Meng
Beijing Institute of Technology
1 shared publication - Haoyu Zhao
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
1 shared publication - Xiuli Zhang
Beijing Jiaotong University
1 shared publication
Latest Publications
- Open Access
- 15 January 2023
- Published by MDPI AG in Biomimetics
- Vol. 8 (1) , 36
Research on the Jumping Control Methods of a Quadruped Robot That Imitates Animals
At present, most quadruped robots can move quickly and steadily on both flat and undulating ground; however, natural environments are complex and changeable, so it is important for a quadruped robot to be able to jump over obstacles immediately. Inspired by the jumping movement of quadruped animals, we present aerial body posture adjustment laws and generate animal-like jumping trajectories for a quadruped robot. Then, the bionic reference trajectories are optimized to build a trajectory library of a variety of jumping motions based on the kinematic and dynamic constraints of the quadruped robot. The model predictive control (MPC) method is employed by the quadruped robot to track the optimized trajectory to achieve jumping behavior. The simulations show that the quadruped robot can jump over an obstacle of 40 cm in height. The effectiveness of the animal-like jump control method is verified.
- 15 January 2023
- Published by MDPI AG in Biomimetics
- Vol. 8 (1) , 36
Open AccessResearch on the Jumping Control Methods of a Quadruped Robot That Imitates Animals
At present, most quadruped robots can move quickly and steadily on both flat and undulating ground; however, natural environments are complex and changeable, so it is important for a quadruped robot to be able to jump over obstacles immediately. Inspired by the jumping movement of quadruped animals, we present aerial body posture adjustment laws and generate animal-like jumping trajectories for a quadruped robot. Then, the bionic reference trajectories are optimized to build a trajectory library of a variety of jumping motions based on the kinematic and dynamic constraints of the quadruped robot. The model predictive control (MPC) method is employed by the quadruped robot to track the optimized trajectory to achieve jumping behavior. The simulations show that the quadruped robot can jump over an obstacle of 40 cm in height. The effectiveness of the animal-like jump control method is verified.