Kinematic control for a quadruped robot using the Newton-Raphson method
The present work consisted of the implementation of a method for the solution of the inverse kinematic problem of a quadruped robot in four limbs with 3 degrees of freedom each. The proposed solution was supported by the application of an iterative method (Newton-Raphson) and special emphasis was pl...
Guardado en:
| Autores principales: | , , |
|---|---|
| Formato: | Artículo publishedVersion |
| Lenguaje: | Español |
| Publicado: |
FIUBA
2021
|
| Materias: | |
| Acceso en línea: | https://elektron.fi.uba.ar/elektron/article/view/125 https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=125_oai |
| Aporte de: |
| id |
I28-R145-125_oai |
|---|---|
| record_format |
dspace |
| spelling |
I28-R145-125_oai2026-02-11 Orbegoso Moreno, Luis Antonio Rodríguez, Cristian Valverde, Edgar 2021-06-15 The present work consisted of the implementation of a method for the solution of the inverse kinematic problem of a quadruped robot in four limbs with 3 degrees of freedom each. The proposed solution was supported by the application of an iterative method (Newton-Raphson) and special emphasis was placed on fine-tuning the algorithm parameters, that is, the number of iterations and the threshold distance, in order to guarantee the convergence of the solution in a few iterations. The work proposed to use the same method both for the function of walking by following the trajectory of a closed Bézier curve of five points, as well as for the control of body posture through the development of pitch and roll movements, and yaw from the base. The results of this solution were simulated in the PyBullet module to which the numerical values of the joints of the quadruped robot obtained from the inverse kinematics were exported to validate its behavior and movements in a simulated physical environment. El presente trabajo consistió en la implementación de un método para la solución del problema cinemático inverso de un robot cuadrúpedo cuyas cuatro extremidades contaron con 3 grados de libertad cada una. La solución propuesta se apoyó en la aplicación de un método iterativo (Newton-Raphson) y se hizo especial énfasis en afinar los parámetros del algoritmo, es decir la cantidad de iteraciones y la distancia umbral, a fin de garantizar la convergencia de la solución en pocas iteraciones. El trabajo propuso utilizar el mismo método tanto para la función de caminar mediante el seguimiento de la trayectoria de una curva de Bézier cerrada de cinco puntos, así como para la del control de postura del cuerpo a través del desarrollo de los movimientos de pitch, roll y yaw de la base. Los resultados de esta solución fueron simulados en el módulo PyBullet al cual se exportaron los valores numéricos de las articulaciones del robot cuadrúpedo obtenidas a partir de la cinemática inversa para validar su comportamiento y movimientos en un entorno físico simulado. application/pdf text/html https://elektron.fi.uba.ar/elektron/article/view/125 10.37537/rev.elektron.5.1.125.2021 spa FIUBA https://elektron.fi.uba.ar/elektron/article/view/125/258 https://elektron.fi.uba.ar/elektron/article/view/125/257 Derechos de autor 2021 Luis Antonio Orbegoso Moreno Elektron Journal; Vol. 5 No. 1 (2021); 77-82 Revista Elektron; Vol. 5 Núm. 1 (2021); 77-82 Revista Elektron; v. 5 n. 1 (2021); 77-82 2525-0159 2525-0159 direct kinematics inverse kinematics Newton-Raphson method quadruped robot cinemática directa cinemática inversa método de Newton-Raphson robot cuadrúpedo Kinematic control for a quadruped robot using the Newton-Raphson method Control cinemático para un robot cuadrúpedo usando el Método de Newton-Raphson info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=125_oai |
| institution |
Universidad de Buenos Aires |
| institution_str |
I-28 |
| repository_str |
R-145 |
| collection |
Repositorio Digital de la Universidad de Buenos Aires (UBA) |
| language |
Español |
| orig_language_str_mv |
spa |
| topic |
direct kinematics inverse kinematics Newton-Raphson method quadruped robot cinemática directa cinemática inversa método de Newton-Raphson robot cuadrúpedo |
| spellingShingle |
direct kinematics inverse kinematics Newton-Raphson method quadruped robot cinemática directa cinemática inversa método de Newton-Raphson robot cuadrúpedo Orbegoso Moreno, Luis Antonio Rodríguez, Cristian Valverde, Edgar Kinematic control for a quadruped robot using the Newton-Raphson method |
| topic_facet |
direct kinematics inverse kinematics Newton-Raphson method quadruped robot cinemática directa cinemática inversa método de Newton-Raphson robot cuadrúpedo |
| description |
The present work consisted of the implementation of a method for the solution of the inverse kinematic problem of a quadruped robot in four limbs with 3 degrees of freedom each. The proposed solution was supported by the application of an iterative method (Newton-Raphson) and special emphasis was placed on fine-tuning the algorithm parameters, that is, the number of iterations and the threshold distance, in order to guarantee the convergence of the solution in a few iterations. The work proposed to use the same method both for the function of walking by following the trajectory of a closed Bézier curve of five points, as well as for the control of body posture through the development of pitch and roll movements, and yaw from the base. The results of this solution were simulated in the PyBullet module to which the numerical values of the joints of the quadruped robot obtained from the inverse kinematics were exported to validate its behavior and movements in a simulated physical environment. |
| format |
Artículo publishedVersion |
| author |
Orbegoso Moreno, Luis Antonio Rodríguez, Cristian Valverde, Edgar |
| author_facet |
Orbegoso Moreno, Luis Antonio Rodríguez, Cristian Valverde, Edgar |
| author_sort |
Orbegoso Moreno, Luis Antonio |
| title |
Kinematic control for a quadruped robot using the Newton-Raphson method |
| title_short |
Kinematic control for a quadruped robot using the Newton-Raphson method |
| title_full |
Kinematic control for a quadruped robot using the Newton-Raphson method |
| title_fullStr |
Kinematic control for a quadruped robot using the Newton-Raphson method |
| title_full_unstemmed |
Kinematic control for a quadruped robot using the Newton-Raphson method |
| title_sort |
kinematic control for a quadruped robot using the newton-raphson method |
| publisher |
FIUBA |
| publishDate |
2021 |
| url |
https://elektron.fi.uba.ar/elektron/article/view/125 https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=125_oai |
| work_keys_str_mv |
AT orbegosomorenoluisantonio kinematiccontrolforaquadrupedrobotusingthenewtonraphsonmethod AT rodriguezcristian kinematiccontrolforaquadrupedrobotusingthenewtonraphsonmethod AT valverdeedgar kinematiccontrolforaquadrupedrobotusingthenewtonraphsonmethod AT orbegosomorenoluisantonio controlcinematicoparaunrobotcuadrupedousandoelmetododenewtonraphson AT rodriguezcristian controlcinematicoparaunrobotcuadrupedousandoelmetododenewtonraphson AT valverdeedgar controlcinematicoparaunrobotcuadrupedousandoelmetododenewtonraphson |
| _version_ |
1859522225593384960 |