Energy Efficient Swing Leg Trajectory Planning For Quadruped Robots Walking On Rough Terrain

摘要

When the quadruped robots perform some patrol and rescue missions, they have to stay outdoors for a long time. Therefore, energy consumption should be reduced as much as possible to improve the robot's endurance ability. In this paper, we analyzed the energy consumption of the electric quadruped robot in the swing leg phase and presented a swing leg trajectory optimization approach which is both collision-free and energy-efficient on rough terrain. The effectiveness of this trajectory has been verified by the experiments in which our quadruped robot Pegasus crossed obstacles such as steps, slopes, and stairs automatically. The experiments have been carried out both in computer simulation and the robot Pegasus.