Trotting Gait Optimization Method for a Quadruped Robot

摘要

The quadruped robots represent a rapidly growing field in the industrial world due to their various applications in supporting everyday and hazardous human activities. Despite significant research contributions, gait optimization remains a challenging task. Typically, gait patterns are inspired by mimicking nature but fall short of replicating the flexibility and articulated adaptability observed in animals. This paper introduces a new method for optimizing gait and designing quadruped robots offline. This approach takes into account the dynamics of the entire system, including leg masses, by employing genetic algorithms and nonlinear programming techniques. The results of this new technique enable the exploration of gait patterns that can accommodate the rigidity of robots while minimizing the energy cost of locomotion.