Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait

Ma Hui-shu; Fang Jian-Jun

doi:doi:10.11648/j.jeee.20180601.15

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Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait

Ma Hui-shu, Fang Jian-Jun

Published in Journal of Electrical and Electronic Engineering (Volume 6, Issue 1)

Received: 7 March 2018 Published: 9 March 2018

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Abstract

In this essay, I design a bionic quadruped robot driven by a large torque electric cylinder, and establish a kinematics model of it by coordinate transformation. Then I analyze the phase relationship between the one-legged wobble and the supporting phase. For the Trot gait of bionics quadruped robot, an improved algorithm of foot trajectory planning with low force and low energy consumption is proposed. In the gait planning, with the help of kinematic inverse kinematics, the joint function of the leg is solved and the control function of the telescoping capacity of the electric cylinder is deduced by geometric relationship. In MATLAB environment, I simulate and analyze the gait and energy consumption, and carry out the servo control of each leg of the experimental prototype to realize the walking of Trot gait robot with bionic quadruped robot. The simulation results show that the trajectory planning can achieve the continuous and steady walking of the bionic quadruped robot driven by the electric cylinder. Moreover, the trajectory of the foot is smooth, the torso is small, which proves the effectiveness and rationality of the method.

Published in	Journal of Electrical and Electronic Engineering (Volume 6, Issue 1)
DOI	10.11648/j.jeee.20180601.15
Page(s)	26-30
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2018. Published by Science Publishing Group

Keywords

Component, Formatting, Quadruped Robot, Trajectory Planning, Zero Impact Algorithm, MATLAB Simulation Analysis

References

[1]	Wang Lipeng, Wang Junzheng, Wang Shukun, et al. Status control strategy of hydraulic four-footed robot based on foot-end trajectory planning algorithm [J]. Proceeding of the CSEE, 2013, 49 (1): 39~44.
[2]	Raibert M H, Chepponis M, Brown Jr H B. Running on four legs as though they were one [J]. IEEE Journal of Robotics and Automation, 2016, 2 (2): 70~82.
[3]	Fukuoka Y, Kimura H, Hada Y, et al. Adaptive dynamic walking of a quadruped robot ‘Tekken’ on irregular terrain using a neural system model. [C]// IEEE International Conference on Robotics and Automation, 14-19 September 2003, Taipei, Taiwan, China. Piscataway, NJ, USA: IEEE, 2013: 2037~2042.
[4]	Semini C, Tsagarakis N G, Guglielmino E, et al. Design of HyQ -A hydraulically and electrically actuated quadruped robot [J]. Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems & Control Engineering, 2011, 225:831-849.
[5]	Raibert M, Blankespoor K, Nelson G, et al. Bigdog, the rough-terrain quadruped robot. [C]// 17th World Congress, International Federation of Automatic Control (IFAC), Seoul, Republic of Korea, 6-11 July 2008, Proceedings. IFAC, 2008: 10822~10825.
[6]	Playter R, Blankespoor K, Bondaryk J, et al. Building man & beast at Boston Dynamics. [C]// AUVSI Unmanned Systems North America Conference, Las Vegas, NV, the United States, 6-9 August 2012, Proceedings. AUVSI, 2012:1041-1046.
[7]	Research on trajectory planning and mobile energy consumption of quadruped robot [J]. Mechanical Design and Research, 2014, 30 (1): 29-34.
[8]	Zhang Guoteng, Rong Xuewen, Li Yibin, et al. Status control of diagonal trotters in quadruped robot based on virtual model [J]. Botman, 2016 (1): 64-74.
[9]	HE Dong-qing, MA Pei-sun. Analysis of Dynamic Walking Simulation and Walking Stability of Quadruped Robot [J]. Computer Simulation, 2005, 22 (2): 146-149.
[10]	Wang Shoukun, Zong Xiaoyan, Chen Guangrong. Research on Energy Consumption of Hydraulic 4-footed Robot Based on Diagonal Gait [J]. Journal of Beijing Institute of Technology, 2016, 36 (4): 399-404.
[11]	ZHANG Rui-lei, LI Sheng, CHEN Qing-wei, et al. Multi-robot formation control in complex terrain [J] Journal of Control Theory and Applications, 2014, 31 (4): 531-537.
[12]	Dai O, Ishiguro A. A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping: [J]. Scientific Reports, 2017, 7 (1):277.
[13]	Keisuke ARIKAWA, Shigeo HIROSE. Development of Quadruped Walking Robot TITAN V-III [C]. Proceedings of IROS. 2016: 208~214.

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APA Style

Ma Hui-shu, Fang Jian-Jun. (2018). Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait. Journal of Electrical and Electronic Engineering, 6(1), 26-30. https://doi.org/10.11648/j.jeee.20180601.15

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ACS Style

Ma Hui-shu; Fang Jian-Jun. Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait. J. Electr. Electron. Eng. 2018, 6(1), 26-30. doi: 10.11648/j.jeee.20180601.15

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AMA Style

Ma Hui-shu, Fang Jian-Jun. Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait. J Electr Electron Eng. 2018;6(1):26-30. doi: 10.11648/j.jeee.20180601.15

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@article{10.11648/j.jeee.20180601.15,
  author = {Ma Hui-shu and Fang Jian-Jun},
  title = {Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait},
  journal = {Journal of Electrical and Electronic Engineering},
  volume = {6},
  number = {1},
  pages = {26-30},
  doi = {10.11648/j.jeee.20180601.15},
  url = {https://doi.org/10.11648/j.jeee.20180601.15},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.jeee.20180601.15},
  abstract = {In this essay, I design a bionic quadruped robot driven by a large torque electric cylinder, and establish a kinematics model of it by coordinate transformation. Then I analyze the phase relationship between the one-legged wobble and the supporting phase. For the Trot gait of bionics quadruped robot, an improved algorithm of foot trajectory planning with low force and low energy consumption is proposed. In the gait planning, with the help of kinematic inverse kinematics, the joint function of the leg is solved and the control function of the telescoping capacity of the electric cylinder is deduced by geometric relationship. In MATLAB environment, I simulate and analyze the gait and energy consumption, and carry out the servo control of each leg of the experimental prototype to realize the walking of Trot gait robot with bionic quadruped robot. The simulation results show that the trajectory planning can achieve the continuous and steady walking of the bionic quadruped robot driven by the electric cylinder. Moreover, the trajectory of the foot is smooth, the torso is small, which proves the effectiveness and rationality of the method.},
 year = {2018}
}

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TY  - JOUR
T1  - Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait
AU  - Ma Hui-shu
AU  - Fang Jian-Jun
Y1  - 2018/03/09
PY  - 2018
N1  - https://doi.org/10.11648/j.jeee.20180601.15
DO  - 10.11648/j.jeee.20180601.15
T2  - Journal of Electrical and Electronic Engineering
JF  - Journal of Electrical and Electronic Engineering
JO  - Journal of Electrical and Electronic Engineering
SP  - 26
EP  - 30
PB  - Science Publishing Group
SN  - 2329-1605
UR  - https://doi.org/10.11648/j.jeee.20180601.15
AB  - In this essay, I design a bionic quadruped robot driven by a large torque electric cylinder, and establish a kinematics model of it by coordinate transformation. Then I analyze the phase relationship between the one-legged wobble and the supporting phase. For the Trot gait of bionics quadruped robot, an improved algorithm of foot trajectory planning with low force and low energy consumption is proposed. In the gait planning, with the help of kinematic inverse kinematics, the joint function of the leg is solved and the control function of the telescoping capacity of the electric cylinder is deduced by geometric relationship. In MATLAB environment, I simulate and analyze the gait and energy consumption, and carry out the servo control of each leg of the experimental prototype to realize the walking of Trot gait robot with bionic quadruped robot. The simulation results show that the trajectory planning can achieve the continuous and steady walking of the bionic quadruped robot driven by the electric cylinder. Moreover, the trajectory of the foot is smooth, the torso is small, which proves the effectiveness and rationality of the method.
VL  - 6
IS  - 1
ER  -

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Author Information

Ma Hui-shu

Beijing Key Laboratory of Information Service Engineering, Beijing Union University, Beijing, China
Fang Jian-Jun

College of Urban Rail Transit and Logistics, Beijing Union University, Beijing, China

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Plain Text BibTeX RIS

APA Style

Ma Hui-shu, Fang Jian-Jun. (2018). Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait. Journal of Electrical and Electronic Engineering, 6(1), 26-30. https://doi.org/10.11648/j.jeee.20180601.15

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ACS Style

Ma Hui-shu; Fang Jian-Jun. Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait. J. Electr. Electron. Eng. 2018, 6(1), 26-30. doi: 10.11648/j.jeee.20180601.15

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AMA Style

Ma Hui-shu, Fang Jian-Jun. Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait. J Electr Electron Eng. 2018;6(1):26-30. doi: 10.11648/j.jeee.20180601.15

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@article{10.11648/j.jeee.20180601.15,
  author = {Ma Hui-shu and Fang Jian-Jun},
  title = {Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait},
  journal = {Journal of Electrical and Electronic Engineering},
  volume = {6},
  number = {1},
  pages = {26-30},
  doi = {10.11648/j.jeee.20180601.15},
  url = {https://doi.org/10.11648/j.jeee.20180601.15},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.jeee.20180601.15},
  abstract = {In this essay, I design a bionic quadruped robot driven by a large torque electric cylinder, and establish a kinematics model of it by coordinate transformation. Then I analyze the phase relationship between the one-legged wobble and the supporting phase. For the Trot gait of bionics quadruped robot, an improved algorithm of foot trajectory planning with low force and low energy consumption is proposed. In the gait planning, with the help of kinematic inverse kinematics, the joint function of the leg is solved and the control function of the telescoping capacity of the electric cylinder is deduced by geometric relationship. In MATLAB environment, I simulate and analyze the gait and energy consumption, and carry out the servo control of each leg of the experimental prototype to realize the walking of Trot gait robot with bionic quadruped robot. The simulation results show that the trajectory planning can achieve the continuous and steady walking of the bionic quadruped robot driven by the electric cylinder. Moreover, the trajectory of the foot is smooth, the torso is small, which proves the effectiveness and rationality of the method.},
 year = {2018}
}

Copy | Download

TY  - JOUR
T1  - Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait
AU  - Ma Hui-shu
AU  - Fang Jian-Jun
Y1  - 2018/03/09
PY  - 2018
N1  - https://doi.org/10.11648/j.jeee.20180601.15
DO  - 10.11648/j.jeee.20180601.15
T2  - Journal of Electrical and Electronic Engineering
JF  - Journal of Electrical and Electronic Engineering
JO  - Journal of Electrical and Electronic Engineering
SP  - 26
EP  - 30
PB  - Science Publishing Group
SN  - 2329-1605
UR  - https://doi.org/10.11648/j.jeee.20180601.15
AB  - In this essay, I design a bionic quadruped robot driven by a large torque electric cylinder, and establish a kinematics model of it by coordinate transformation. Then I analyze the phase relationship between the one-legged wobble and the supporting phase. For the Trot gait of bionics quadruped robot, an improved algorithm of foot trajectory planning with low force and low energy consumption is proposed. In the gait planning, with the help of kinematic inverse kinematics, the joint function of the leg is solved and the control function of the telescoping capacity of the electric cylinder is deduced by geometric relationship. In MATLAB environment, I simulate and analyze the gait and energy consumption, and carry out the servo control of each leg of the experimental prototype to realize the walking of Trot gait robot with bionic quadruped robot. The simulation results show that the trajectory planning can achieve the continuous and steady walking of the bionic quadruped robot driven by the electric cylinder. Moreover, the trajectory of the foot is smooth, the torso is small, which proves the effectiveness and rationality of the method.
VL  - 6
IS  - 1
ER  -

Copy | Download