Abstract
This paper proposes a simple attitude trajectory optimization method to enhance the walking balance of a large-size hexapod robot. To achieve balance motion control of a large-size hexapod robot on different outdoor terrains, we planned the balance attitude trajectories of the robot during walking and introduced how leg trajectories are generated based on the planned attitude trajectories. While planning the attitude trajectories, high order polynomial interpolation was employed with attitude fluctuation counteraction considered. Constraints that the planned attitude trajectories must satisfy during walking were well-considered. The trajectory of the swing leg was well designed with the terrain attitude considered to improve the environmental adaptability of the robot during the attitude adjustment process, and the trajectory of the support leg was automatically generated to satisfy the demand of the balance attitude trajectories planned. Comparative experiments of the real large-size hexapod robot walking on different terrains were carried out to validate the effectiveness and applicability of the attitude trajectory optimization method proposed, which demonstrated that, compared with the currently developed balance motion controllers, the attitude trajectory optimization method proposed can simplify the control system design and improve the walking balance of a hexapod robot.
Highlights
Different mobile robots and control methods have been developed to satisfy different mission objectives with the purpose of improving the quality of human life [1,2,3]
It can be analyzed from the overall experiment results of the natural soft terrain walking experiment that, compared with the commonly used balance walking control methods for legged robots, the attitude trajectory optimization method proposed in this paper can better improve the walking balance of a slope-climbing legged robot
The main theoretical contribution of this paper is the proposal of a simple attitude trajectory optimization method which can ensure the walking balance of the large-size hexapod robot on different terrains
Summary
Different mobile robots and control methods have been developed to satisfy different mission objectives with the purpose of improving the quality of human life [1,2,3]. The trajectories of the attitude angles are not taken into consideration [11,17,30,31] This is why the motions of the support legs cannot adapt to the changes of the external terrain conditions, and additional balance control methods like the feedforward foot force control methods or the virtual model control methods are needed to be introduced into the control systems. From the discussions of the currently developed balance walking controllers for legged robots, it can be found that if the attitude trajectories of a legged robot during walking are well designed to counteract the walking fluctuations, and the leg trajectories are generated with both the robot attitude and terrain attitude angles considered, both the walking balance and the simplicity of the control system of a legged robot can be ensured To achieve this goal, a simple attitude trajectory optimization method to ensure balance motion control of a large-size hexapod robot is proposed in this paper.
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