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Kinematic analysis of a double-closed-loop four-bar chain-based leg for a multimodal quadruped-pentarotor robot
arXiv eess.SY0 views
arXiv:2611.07470v1 Announce Type: cross Abstract: 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.
Source：https://arxiv.org/abs/2611.07470PreviousTwo-stage residual learning for calibrated uncertainty in solar irradiance forecastsNextTraining-Independent Validation of a Learning-Based Controller for Stunt Maneuvers
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