4 족보행 로봇의 갤로핑 궤적의 최적화

Trajectory optimization for galloping quadruped robots

This paper proposes an optimal galloping trajectory which costs low energy and guarantees the stability of the quadruped robot. In the realization of the fast galloping, the trajectory design is important. As a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of animal galloping motion, does not guarantee stability and minimal energy consumption. We propose optimization based on the energy and stability using a genetic algorithm, which provides the robust and global solution to a multi-body, highly nonlinear dynamic system. To evaluate and verify the effectiveness of the proposed trajectory, computer simulations were carried out.