Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Kun Yang, Yibin Li, Lelai Zhou and Xuewen Rong
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Kun Yang: Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, China
Yibin Li: Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, China
Lelai Zhou: Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, China
Xuewen Rong: Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, China

Energies, 2019, vol. 12, issue 13, 1-24

Abstract: Quadruped robots can be used to transport loads or conduct rescue missions on tough terrain. In addition to flexibility and adaptability to complex terrain, the hydraulic driven quadruped robots also have the important characteristic of energy consumption. This paper studies the trot gait motions of the quadruped robot SCalf. The energy model including the mechanical power and heat rate is established, which can be used to obtained the energy consumption of the robot. Compared with a cubic spline interpolation reference trajectory, a foot trajectory based on Fourier series is studied to reduce the joints energy consumption, and the parameters of the foot trajectory are acquired by the Pattern Search method. The effectiveness of the energy efficient trajectory is verified by simulations and verified on the robot prototype.

Keywords: quadruped robot; foot force distribution; energy efficient trajectory; pattern search method (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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