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Featured article: Gait Analysis of Quadruped Robot Using the Equivalent Mechanism Concept Based on Metamorphosis

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The previous research regarding the gait planning of quadruped robot focuses on the sequence for lifting off and placing the feet, but neglects the influence of body height. However, body height affects gait performance significantly, such as in terms of the stride length and stability margin. We herein study the performance of a quadruped robot using the equivalent mechanism concept based on metamorphosis. Assuming the constraints between standing feet and the ground with hinges, the ground, standing legs and robot body are considered as a parallel mechanism, and each swing leg is regarded as a typical serial manipulator. The equivalent mechanism varies while the robot moves on the ground. One gait cycle is divided into several periods, including step forward stages and switching stages. There exists a specific equivalent mechanism corresponding to each gait period. The robot’s locomotion can be regarded as the motion of these series of equivalent mechanisms. The kinematics model and simplified model of the equivalent mechanism is established. A new definition of the multilegged robot stability margin, based on friction coefficient, is presented to evaluate the robot stability. The stable workspaces of the equivalent mechanism in the step forward stage of trotting gait under different friction coefficients are analyzed. The stride length of the robots is presented by analyzing the relationship between the stable workspaces of the equivalent mechanisms of two adjacent step forward stages in one gait cycle. The simulation results show that the stride length is larger with increasing friction coefficient. We herein propose a new method based on metamorphosis, and an equivalent mechanism to analyze the stability margin and stable workspace of the multilegged robot.

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Aims and scope

Chinese Journal of Mechanical Engineering (CJME) was launched in 1988. It is a peer-reviewed journal under the govern of China Association for Science and Technology (CAST) and sponsored by Chinese Mechanical Engineering Society (CMES).

As the only official journal of CMES, CJME has been one of the top journals in Mechanical Engineering in China, aiming to become a world-class one. On behalf of CMES, CJME serves for international communication among over 80 international societies/institutions, such as American Society of Mechanical Engineers (ASME), Institution of Mechanical Engineers (IMechE), and International Federation for the Promotion of Mechanism and Machine Science (IFToMM), etc.

CJME welcomes original research articles, reviews, letters, research highlights, and editorials.

The publishing scopes of CJME follow with:

 Mechanism and Robotics, including but not limited to
  -- Innovative Mechanism Design
  -- Mechanical Transmission
  -- Robot Structure Design and Control
  -- Applications for Robotics (e.g., Industrial Robot, Medical Robot, Service Robot…)
  -- Tri-Co Robotics

 Intelligent Manufacturing Technology, including but not limited to
  -- Innovative Industrial Design
  -- Intelligent Machining Process
  -- Artificial Intelligence
  -- Micro- and Nano-manufacturing
  -- Material Increasing Manufacturing
  -- Intelligent Monitoring Technology
  -- Machine Fault Diagnostics and Prognostics

 Advanced Transportation Equipment, including but not limited to
  -- New Energy Vehicle Technology
  -- Unmanned Vehicle
  -- Advanced Rail Transportation
  -- Intelligent Transport System

 Ocean Engineering Equipment, including but not limited to
  --Equipment for Deep-sea Exploration
  -- Autonomous Underwater Vehicle

 Smart Material, including but not limited to
   --Special Metal Functional Materials
   --Advanced Composite Materials
   --Material Forming Technology

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Chinese Journal of Mechanical Engineering is affiliated with the Chinese Mechanical Engineering Society.

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