Body trajectory optimisation of walking gait for a quadruped robot  

作　　者：Minghuan Zhang Yaguang Zhu Ao Cao Qibin Wei Qiong Liu 

机构地区：[1]The Key Laboratory of Road Construction Technology and Equipment of MOE,Chang'an University,Xi'an,China [2]Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components,Xi'an,China

出　　处：《IET Cyber-Systems and Robotics》2023年第3期45-55,共11页智能系统与机器人（英文）

基　　金：supported in part by the National Natural Science Foundation of China(Grant No.51605039);in part by the Open Foundation of Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components.

摘　　要：To ensure that the robot can follow the planned trajectory,smooth switching between swinging legs and a smooth transition of motion process is realised.The previous motion planning work is analysed,and a method for improving the optimisation objective function and constraint conditions is proposed to eliminate the sudden change of acceleration and reduce the peak value of acceleration change.This method eliminates the impact phenomenon in the motor drive process and reduces the motor drive energy consumption,thus ensuring the smooth and consistent movement of the robot.The results show that the improved optimisation method has a better motion effect than the previous approach in terms of centre of mass motion speed,trajectory fitting and body posture change,and realises more robust motion of quadruped robots in a senseless state.

关 键 词：bio‐inspired robotics motion planning tracking control trajectory optimization 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]