Dynamic Model of a Compliant Quadruped Trunk Under Large Deflections

Database DescriptionThis database accompanies the study that develops a dynamic model for flexible systems undergoing large deflections, particularly relevant to quadruped robots with both rigid and compliant components. It includes both experimental and simulation results for three different configurations: Vibration without additional mass: analyzes the behavior of the flexible system without any mass attached to the free end of the beam. Vibration with hip mass: examines the dynamic effects of attaching an additional mass to a rigid bar connected to the beam’s free end, representing the mass of the robot’s hip. Vibration with leg mass: evaluates the influence of an added mass representing a leg, and its impact on the system’s quasi-resonant frequency. These datasets support validation of the proposed model and contribute to the development of control strategies aimed at achieving energy-efficient galloping in quadrupedal robots.数据集说明 本数据集配套于一项研究，该研究针对承受大变形的柔性系统构建动力学模型，尤其适用于兼具刚性与柔顺部件的四足机器人。数据集包含三种不同配置下的实验与仿真结果： 无附加质量振动：分析柔性系统在梁自由端未附着任何质量时的动力学行为。 带髋部质量振动：研究在连接于梁自由端的刚性杆上附加质量（对应机器人髋部质量）时的动力学效应。 带腿部质量振动：评估代表腿部的附加质量对系统准谐振频率的影响。 本数据集可为所提出模型的验证提供支撑，并助力面向四足机器人节能疾驰控制策略的开发。