A Method of Foot Trajectory Generation for Quadruped Robots in Swing Phase to Optimize the Joint Torque

摘要

According to the basic motion requirements of quadruped robots, the mechanism of quadruped robot with 12 degrees of freedom is designed, and the dynamic model of single leg and the description equation of foot position are established. In order to solve the problem of the joint torque optimization of quadruped robots in swing phase, a method of generating the foot trajectory based on dynamics is proposed. Computer simulation results show that the proposed method can reduce the torque output of quadruped robot joints when the quadruped robots are in swing phase and prove the reliability of the proposed method for quadruped robot in the foot trajectory generation. Finally, because the leg structure of quadruped robot has the general characteristics of typical series linkage mechanism, it can also be extended to other series mechanisms with multiple connecting rods.