Research on foot trajectory planning of quadruped robot

摘要

In order to improve the stability of the diagonal trot gait of a quadruped robot, a foot trajectory planning method based on high-degree polynomial curve was proposed. Based on the gait movement of the diagonal trot, the kinematics model of the parallel leg of the quadruped robot was established firstly, and the inverse kinematics expression was solved by geometric method. At the same time, PID controller is used to plan and improve the foot trajectory of the robot, and Webots simulation platform and experimental prototype are used for comparison test. The results show that when the proportionality coefficient is 80, the integral coefficient is 1.5, and the differential coefficient is 5 in the X direction, and the proportionality coefficient is 80, the integral coefficient is 1.7, and the differential coefficient is 4.8 in the Y direction, the foot trajectory of the quadruped robot is smooth and the trot gait effect is more stable.