Influence of Upper Body with Dual Arms on Posture Control of Independently Driven Quadruped Crawler Robot

Independently Driven Quadruped Crawler Robot (IDQCR) is able to rescue survivors rapidly in case of disaster situations. In order to prevent rollover, the IDQCR must level out the operator cabin to overcome rough terrain and do posture control when gripper is carrying heavy things of the robot. In this paper, we define a mathematical model based on differential kinematics for posture control and discuss the influence of the upper body of IDQCR on posture control. In order to verify the proposed mathematical model, we simulated with DAFUL and MATLAB/Simulink, which can analyze dynamics.