RESEARCH ON TRAJECTORY PLANNING OF QUADRUPED ROBOT BASED ON BEZIER CURVE (MT)
In order to improve the stability of diagonal trot gait for quadruped robot, a foot end trajectory planning method based on Bezier curve is proposed. Aiming at the diagonal trot gait of quadruped robot, the kinematics model of parallel legs of quadruped robot is established, the forward and inverse...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Strength
2023-01-01
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| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2023.03.028 |
| _version_ | 1797767605431304192 |
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| author | XU ChaoBin LI LinZhi DU JunLong LI MingZhi |
| author_facet | XU ChaoBin LI LinZhi DU JunLong LI MingZhi |
| author_sort | XU ChaoBin |
| collection | DOAJ |
| description | In order to improve the stability of diagonal trot gait for quadruped robot, a foot end trajectory planning method based on Bezier curve is proposed. Aiming at the diagonal trot gait of quadruped robot, the kinematics model of parallel legs of quadruped robot is established, the forward and inverse kinematics are solved by geometric method, and the foot end trajectories of swing phase and support phase are optimized based on zero impact principle and PD controller. The comparative test is carried out by using Webots simulation platform and experimental prototype. The results show that when the proportional coefficient in X direction is 20, the differential coefficient is 0.75 s, the proportional coefficient in Y direction is 20 and the differential coefficient is 0.5 s, the foot end trajectory of quadruped robot is smooth without sudden change of speed and acceleration, and the gait of diagonal trot is more stable. |
| first_indexed | 2024-03-12T20:41:14Z |
| format | Article |
| id | doaj.art-7a58bef9210b4bc4ab904666e5327807 |
| institution | Directory Open Access Journal |
| issn | 1001-9669 |
| language | zho |
| last_indexed | 2024-03-12T20:41:14Z |
| publishDate | 2023-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj.art-7a58bef9210b4bc4ab904666e53278072023-08-01T07:55:46ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692023-01-0170871440373583RESEARCH ON TRAJECTORY PLANNING OF QUADRUPED ROBOT BASED ON BEZIER CURVE (MT)XU ChaoBinLI LinZhiDU JunLongLI MingZhiIn order to improve the stability of diagonal trot gait for quadruped robot, a foot end trajectory planning method based on Bezier curve is proposed. Aiming at the diagonal trot gait of quadruped robot, the kinematics model of parallel legs of quadruped robot is established, the forward and inverse kinematics are solved by geometric method, and the foot end trajectories of swing phase and support phase are optimized based on zero impact principle and PD controller. The comparative test is carried out by using Webots simulation platform and experimental prototype. The results show that when the proportional coefficient in X direction is 20, the differential coefficient is 0.75 s, the proportional coefficient in Y direction is 20 and the differential coefficient is 0.5 s, the foot end trajectory of quadruped robot is smooth without sudden change of speed and acceleration, and the gait of diagonal trot is more stable.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2023.03.028Quadruped robot;Diagonal trot;Webots;Bezier curve;Foot trajectory |
| spellingShingle | XU ChaoBin LI LinZhi DU JunLong LI MingZhi RESEARCH ON TRAJECTORY PLANNING OF QUADRUPED ROBOT BASED ON BEZIER CURVE (MT) Jixie qiangdu Quadruped robot;Diagonal trot;Webots;Bezier curve;Foot trajectory |
| title | RESEARCH ON TRAJECTORY PLANNING OF QUADRUPED ROBOT BASED ON BEZIER CURVE (MT) |
| title_full | RESEARCH ON TRAJECTORY PLANNING OF QUADRUPED ROBOT BASED ON BEZIER CURVE (MT) |
| title_fullStr | RESEARCH ON TRAJECTORY PLANNING OF QUADRUPED ROBOT BASED ON BEZIER CURVE (MT) |
| title_full_unstemmed | RESEARCH ON TRAJECTORY PLANNING OF QUADRUPED ROBOT BASED ON BEZIER CURVE (MT) |
| title_short | RESEARCH ON TRAJECTORY PLANNING OF QUADRUPED ROBOT BASED ON BEZIER CURVE (MT) |
| title_sort | research on trajectory planning of quadruped robot based on bezier curve mt |
| topic | Quadruped robot;Diagonal trot;Webots;Bezier curve;Foot trajectory |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2023.03.028 |
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