Analysis on the Effect of Foot Trajectories on a Two Degrees of Freedom Robotic Leg

Abstract

Efficient locomotion is a crucial aspect of robotic design, particularly in bipedal systems where power consumption directly impacts performance and autonomy. Trajectory planning plays a prime role in determining energy efficiency and stability during locomotion. Trade-offs between trajectory types in terms of energy efficiency and performance remain inadequately explored, necessitating a comprehensive comparative analysis. This study aims to address this gap by analyzing rectangular trajectory and smoothed rectangular trajectory for a two-degree-of-freedom robotic leg. By evaluating power and torque consumption this work seeks to provide valuable insights into the efficiency and suitability of trajectory planning methods for bipedal locomotion. Optimizing trajectory planning based on energy efficiency not only enhances the operational endurance of bipedal robots but also expands their range of applications in diverse environments, ultimately advancing the field of robotics towards more practical and sustainable solutions.