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: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-09-01
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| Series: | IET Cyber-systems and Robotics |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/csy2.12094 |
| _version_ | 1797674935666081792 |
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| author | Minghuan Zhang Yaguang Zhu Ao Cao Qibin Wei Qiong Liu |
| author_facet | Minghuan Zhang Yaguang Zhu Ao Cao Qibin Wei Qiong Liu |
| author_sort | Minghuan Zhang |
| collection | DOAJ |
| description | 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 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. |
| first_indexed | 2024-03-11T22:07:22Z |
| format | Article |
| id | doaj.art-dd958d433f954d49bb9fdc835e640cb1 |
| institution | Directory Open Access Journal |
| issn | 2631-6315 |
| language | English |
| last_indexed | 2024-03-11T22:07:22Z |
| publishDate | 2023-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Cyber-systems and Robotics |
| spelling | doaj.art-dd958d433f954d49bb9fdc835e640cb12023-09-25T03:34:28ZengWileyIET Cyber-systems and Robotics2631-63152023-09-0153n/an/a10.1049/csy2.12094Body trajectory optimisation of walking gait for a quadruped robotMinghuan Zhang0Yaguang Zhu1Ao Cao2Qibin Wei3Qiong Liu4The Key Laboratory of Road Construction Technology and Equipment of MOE Chang'an University Xi'an ChinaThe Key Laboratory of Road Construction Technology and Equipment of MOE Chang'an University Xi'an ChinaThe Key Laboratory of Road Construction Technology and Equipment of MOE Chang'an University Xi'an ChinaThe Key Laboratory of Road Construction Technology and Equipment of MOE Chang'an University Xi'an ChinaThe Key Laboratory of Road Construction Technology and Equipment of MOE Chang'an University Xi'an ChinaAbstract 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.https://doi.org/10.1049/csy2.12094bio‐inspired roboticsmotion planningtracking controltrajectory optimization |
| spellingShingle | Minghuan Zhang Yaguang Zhu Ao Cao Qibin Wei Qiong Liu Body trajectory optimisation of walking gait for a quadruped robot IET Cyber-systems and Robotics bio‐inspired robotics motion planning tracking control trajectory optimization |
| title | Body trajectory optimisation of walking gait for a quadruped robot |
| title_full | Body trajectory optimisation of walking gait for a quadruped robot |
| title_fullStr | Body trajectory optimisation of walking gait for a quadruped robot |
| title_full_unstemmed | Body trajectory optimisation of walking gait for a quadruped robot |
| title_short | Body trajectory optimisation of walking gait for a quadruped robot |
| title_sort | body trajectory optimisation of walking gait for a quadruped robot |
| topic | bio‐inspired robotics motion planning tracking control trajectory optimization |
| url | https://doi.org/10.1049/csy2.12094 |
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