Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

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...

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Bibliographic Details
Main Authors: Kun Yang, Yibin Li, Lelai Zhou, Xuewen Rong
Format: Article
Language:English
Published: MDPI AG 2019-06-01
Series:Energies
Subjects:
quadruped robot
foot force distribution
energy efficient trajectory
pattern search method
Online Access:https://www.mdpi.com/1996-1073/12/13/2514
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spelling doaj-dd9e45167d11401f8527824808a4358d2020-11-25T01:42:51ZengMDPI AGEnergies1996-10732019-06-011213251410.3390/en12132514en12132514Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped RobotKun Yang0Yibin Li1Lelai Zhou2Xuewen Rong3Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, ChinaQuadruped 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.https://www.mdpi.com/1996-1073/12/13/2514quadruped robotfoot force distributionenergy efficient trajectorypattern search method
collection DOAJ
language English
format Article
sources DOAJ
author Kun Yang
Yibin Li
Lelai Zhou
Xuewen Rong
spellingShingle Kun Yang
Yibin Li
Lelai Zhou
Xuewen Rong
Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot
Energies
quadruped robot
foot force distribution
energy efficient trajectory
pattern search method
author_facet Kun Yang
Yibin Li
Lelai Zhou
Xuewen Rong
author_sort Kun Yang
title Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot
title_short Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot
title_full Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot
title_fullStr Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot
title_full_unstemmed Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot
title_sort energy efficient foot trajectory of trot motion for hydraulic quadruped robot
publisher MDPI AG
series Energies
issn 1996-1073
publishDate 2019-06-01
description 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.
topic quadruped robot
foot force distribution
energy efficient trajectory
pattern search method
url https://www.mdpi.com/1996-1073/12/13/2514
work_keys_str_mv AT kunyang energyefficientfoottrajectoryoftrotmotionforhydraulicquadrupedrobot
AT yibinli energyefficientfoottrajectoryoftrotmotionforhydraulicquadrupedrobot
AT lelaizhou energyefficientfoottrajectoryoftrotmotionforhydraulicquadrupedrobot
AT xuewenrong energyefficientfoottrajectoryoftrotmotionforhydraulicquadrupedrobot
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