跳到正文
研踪PaperTrail
← 研踪 PaperTrail

arXiv:2611.07470 · v1

Kinematic analysis of a double-closed-loop four-bar chain-based leg for a multimodal quadruped-pentarotor robot

Prashant RaturiSanthakumar Mohan
cs.ROeess.SY
首次提交 2026-11-05 13:28
版本更新 2026-11-05 13:28
雷达观测 2026-11-06 12:09
arXiv ↗PDF ↗

摘要

This paper presents the kinematic modeling and singularity analysis of a three-degree-of-freedom, double four-bar closed-loop quadruped leg mechanism. This leg is essential for transitioning between the two operational modes; therefore, it is examined in both joint and task spaces, leading to the development of its Jacobian matrix, which is vital for designing the gaits required for terrestrial mode and mid-air aerial reconfiguration (for aerial mode). Various gaits are devised for the system's motion in the MATLAB simulation, and their practical implementation on the single-leg test rig is demonstrated.

作者备注：Journal paper submitted to Robotica with ID:ROB-2026-0373

查看 arXiv 原文 ↗阅读 PDF ↗

AI 论文解读

基于摘要 · 非全文审阅

此版本尚未生成 AI 解读。解读由后台任务生成并按论文版本保存，登录后共享已有结果。

版本差异

目前只观测到一个版本，无法比较变化。之后收录新版本时，会在这里对照标题、作者、分类和摘要。

观测到的版本

相邻记录可能跳过中间版本；首次发现 v2 及以上也会标为版本更新。

v1 · 2026-11-05 13:28 · 最新观测版本

Kinematic analysis of a double-closed-loop four-bar chain-based leg for a multimodal quadruped-pentarotor robot

This paper presents the kinematic modeling and singularity analysis of a three-degree-of-freedom, double four-bar closed-loop quadruped leg mechanism. This leg is essential for transitioning between the two operational modes; therefore, it is examined in both joint and task spaces, leading to the development of its Jacobian matrix, which is vital for designing the gaits required for terrestrial mode and mid-air aerial reconfiguration (for aerial mode). Various gaits are devised for the system's motion in the MATLAB simulation, and their practical implementation on the single-leg test rig is demonstrated.

查看此版本解读 →查看此版本原文 ↗