Gait Analysis of the Mammal Quadruped Robot from the Perspective of Energy Efficiency

摘要

Because of the variety of parameters which are closely coupled, the mechanism design and control implementation of the bionic quadruped robot with higher performance is difficult. In this open research field, the energy efficiency of the motion system has become an important design and optimization goal. In this manuscript, a feasible simulation system framework is constructed in the case where the mechanism configuration, the length of the leg and the whole weight has been determined. Based on the step coefficient and the height coefficient, the motion features and the energy consumption of the quadruped robot in the gait sagittal plane are analysed, and the relationship between motion energy efficiency and gait parameters including gait type, step size, step height, step frequency, standing height are discussed in detail. The simulation results show that the gait that consistent with high energy efficiency is similar to animals with similar size.