Trajectory Planning of Quadruped Robot Based on the Principle of Optimal Power

Abstract

轨迹规划是四足机器人研究的关键，合理的足端轨迹有助于减少四足机器人足端触地时的冲击，本文根据零冲击原则规划了三条四足机器人的足端轨迹。对各条足端轨迹进行虚拟样机仿真分析，根据功率最优原则，针对不同的步态选择相应最优的足端轨迹,为类似问题的实现开辟了新思路和新途径。 Trajectory planning is the key of the quadruped robot. Reasonable foot trajectory is helpful for reducing the impact during the feet of quadruped robot striking the ground. According to the principle of the zero impact, this paper plans three trajectories of the quadruped robot, and con-ducts the virtual prototype simulation of the three trajectories. According to the principle of the optimal power, it chooses the optimal trajectory for different gaits. This paper provides reference for solving this kind of problem and related problems.