Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot
Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot
复制标题
液压四足机器人小跑运动的节能足部轨迹
DOI：
10.3390/en12132514
复制
发表时间：
2019-07-01
期刊：
影响因子：
3.2
通讯作者：
Rong, Xuewen
中科院分区：
文献类型：
--
作者：
Yang, Kun;Li, Yibin;Rong, Xuewen
四足机器人可用于运输货物或在坚韧的地形上执行救援任务。液压驱动四足机器人除了具有灵活性和对复杂地形的适应性外，还具有能耗大的重要特点。研究了四足机器人SCalf的小跑步态运动。建立了包含机械功率和热耗率的能量模型，可用于计算机器人的能量消耗。与三次样条插值参考轨迹相比，研究了一种基于傅立叶级数的足部轨迹，以降低关节能耗，并采用模式搜索法获取足部轨迹参数。通过仿真和机器人样机验证了能量有效轨迹的有效性。
Quadruped robots can be used to transport loads or conduct rescue missions on tough terrain. In addition to flexibility and adaptability to complex terrain, the hydraulic driven quadruped robots also have the important characteristic of energy consumption. This paper studies the trot gait motions of the quadruped robot SCalf. The energy model including the mechanical power and heat rate is established, which can be used to obtained the energy consumption of the robot. Compared with a cubic spline interpolation reference trajectory, a foot trajectory based on Fourier series is studied to reduce the joints energy consumption, and the parameters of the foot trajectory are acquired by the Pattern Search method. The effectiveness of the energy efficient trajectory is verified by simulations and verified on the robot prototype.