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Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot

Author

Listed:
  • Kun Yang

    (Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, China)

  • Yibin Li

    (Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, China)

  • Lelai Zhou

    (Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, China)

  • Xuewen Rong

    (Center for Robotics, School of Control Science and Engineering, Shandong University, No. 17923, Jingshi Road, Jinan 250061, Shandong, China)

Abstract

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.

Suggested Citation

  • Kun Yang & Yibin Li & Lelai Zhou & Xuewen Rong, 2019. "Energy Efficient Foot Trajectory of Trot Motion for Hydraulic Quadruped Robot," Energies, MDPI, vol. 12(13), pages 1-24, June.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:13:p:2514-:d:244314
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    Cited by:

    1. Tomasz Winiarski & Szymon Jarocki & Dawid Seredyński, 2021. "Grasped Object Weight Compensation in Reference to Impedance Controlled Robots," Energies, MDPI, vol. 14(20), pages 1-15, October.

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