Body trajectory optimisation of walking gait for a quadruped robot
Abstract 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 i...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-09-01
|
| Series: | IET Cyber-systems and Robotics |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/csy2.12094 |