Modeling and analysis on low energy consumption foot trajectory for hydraulic actuated quadruped robot

International Journal of Advanced Robotic Systems

article

Yaru Sun¹  Zisen Hua¹  Yibin Li³  Chai Hui³  Xianhua Li¹  Bo Su⁴ 

[1] State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines, Anhui University of Science and Technology;Anhui University of Science and Technology;School of Control Science and Engineering, Shandong University;China North Vehicle Research Institute

关键词: Energy efficient;    hydraulic actuation;    quadruped robot;    optimal parameters of foot trajectory;   

DOI  :  10.1177/17298814211062006

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

According to the energy consumption characteristics of hydraulic actuator, the valuable foot trajectory characterized by using segmented cubic spline interpolation curve in the swing phase is proposed firstly to reduce the energy consumption of quadruped robots, which is implemented by using controlling parameters t f to change the duration of leg raising and falling in one gait cycle, and then realized the directly control to the time ratio between the piston extension and retraction. Then, the total energy consumption of the hydraulic actuated quadruped robot SCalf-II is modeled. Meanwhile, the parameters of the foot trajectory that have a large impact on the energy consumption are determined. Finally, simulation analysis and verification experiments of the robot moving with constant speeds at the key parameters are performed. The results show that for the given foot trajectory, the optimization ranges of the gait cycle and duration of leg lifting from the lowest to highest are determined in which the energy required for the robot locomotion is at a relatively low level.

【 授权许可】

CC BY