Optimal Trajectory Planning Control for Quadruped Robot

Abstract

Abstract The posture information of the quadruped robot changes in real-time during its movement, and the trajectory planning method in view of trunk posture feedback is proposed. The kinematics equations of the mobile robot are built. The transformation matrix between the robot trunk posture and the foot-leg joint displacement is obtained. The feedback information of the body posture is integrated when planning motion trajectory. The motion trajectory of the robot according to the feedback information of the trunk posture is planned. The trajectories of the robot in the forward, lateral, and vertical directions are planned, respectively. The effectiveness and rationality of the optimal trajectory planning strategy are tested by the quadruped robot simulation platform.