Stability optimization on quadruped robot using trajectory algorithm

摘要

A lot of research about using animal walking patterns on quadruped robots such as cheetah, cats and others. The big problem is about how to make this fourlegged robot run fast and maintain stability. The instability of the robot makes visual sensors such as Camera, Thermal sensor and various sensors used to get significant disturbance. With this problem, this paper made a system in the form of Walking Trajectory System algorithm that can be used on four legged robot that makes the movement run more stable. To achieve the coordinates running used Inverse Kinematics method. The Walking Trajectory System will be applied to the Gait where 2 legs support and 2 legs swing at the same time as walking. This algorithm will be added in (Transfer Phase) swinging foot from the PEP (Posterior Extreme Position) to AEP (Anterior Extreme Position) by optimizing the transition gait is expected to optimize the stability. The stability data will be represented with the output of the IMU in the form of roll and pitch graphs.