A Joint Torque Redistribution Approach for Energy Efficient Electrical Quadruped Robot

摘要

Joint torque distribution has been the focus of the electrically actuated quadruped robot since the appearance of this work. Most approaches have focused on the spring-loaded-inverted-pendulum (SLIP) model. This work aims to develop a joint torque redistribution method for each joint to perform a hopping movements for the single legs. By investigating the variation of momentum and the energy consumption for quadruped robots, the work presents the joint torque redistribution model. The proposed approach is utilized to plan a periodic trajectory movement for quadruped robots. The stability and energy efficiency of the proposed algorithm are verified with the actual single leg robot prototype.