Trajectory planning and posture adjustment of a quadruped robot for obstacle striding

This paper proposes a control method of trajectory planning and posture adjustment for quadruped robots' obstacle striding. The addressed mixed parabola method plans the travelling paths over obstacles in Cartesian coordinate system. The constraints on velocities, accelerations, and jerks at wa...

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Bibliographic Details
Published in2011 IEEE International Conference on Robotics and Biomimetics pp. 1924 - 1929
Main Authors Xuesong Shao, Yiping Yang, Ying Zhang, Wei Wang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2011
Subjects
Acceleration
Joints
Legged locomotion
Radio frequency
Robot kinematics
Trajectory
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Summary:This paper proposes a control method of trajectory planning and posture adjustment for quadruped robots' obstacle striding. The addressed mixed parabola method plans the travelling paths over obstacles in Cartesian coordinate system. The constraints on velocities, accelerations, and jerks at waypoints are employed to generate the time-efficient smooth cubic spline joint trajectories by nonlinear optimization technique. The planned trajectories maximize the compliance and flexibility of joint movements. To guarantee the static stability for the pitch-pitch type quadruped robots, a posture adjustment strategy based on the potential energy is investigated to regulate the trajectory of Center of Gravity (COG). The experimental results on quadruped robot FROG-I (Four-legged Robot for Optimal Gaits) prove the feasibility of the proposed approach of striding a board in natural environment.
ISBN:1457721368
9781457721366
DOI:10.1109/ROBIO.2011.6181572