A Quasi-Elliptic Foot Trajectory Planning Approach Based on the Stochastic Linear Complementarity Problem for Electrical Quadruped Robots
- Resource Type
- Conference
- Authors
- Li, Tianfa; Zhou, Lelai; Xuan, Wenlong; Rong, Xuewen; Chai, Hui; Li, Yibin
- Source
- 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2019 IEEE 9th Annual International Conference on. :837-842 Jul, 2019
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Legged locomotion
Trajectory
Torque
DC motors
Energy consumption
Foot
- Language
Energy efficiency has been the focus of the quadruped robots since the appearance of this field. Most approaches have focused on the quadrupedal mechanisms or the actuation like series elastic actuation (SEA). This work aims to develop an optimal energy efficiency method to plan a quasi-elliptic motion trajectory for the quadruped robots. The energy efficiency of the DC motors in the electric quadruped robot is formulated as an optimization problem. The Stochastic Linear Complementarity Problem (SLCP) and sinusoidal pulse force are proposed to minimize the energy loss at the impact collisions. The stability and energy efficiency of the proposed algorithm is verified with the computer simulation.