Abstract
Quadruped robots can be used to transport loads or conduct rescue missions on tough terrain. In addition to flexibility and adaptability to complex terrain, the hydraulic driven quadruped robots also have the important characteristic of energy consumption. This paper studies the trot gait motions of the quadruped robot SCalf. The energy model including the mechanical power and heat rate is established, which can be used to obtained the energy consumption of the robot. Compared with a cubic spline interpolation reference trajectory, a foot trajectory based on Fourier series is studied to reduce the joints energy consumption, and the parameters of the foot trajectory are acquired by the Pattern Search method. The effectiveness of the energy efficient trajectory is verified by simulations and verified on the robot prototype.
Highlights
At present, most common mobile robots are wheeled or tracked, which are more suitable for flat surface
The energy consumption of the proposed trajectory is compared with a reference foot trajectory which is based on the cubic spline interpolation
An energy efficient foot trajectory based on the Fourier series for a hydraulic actuated quadruped robot was proposed
Summary
Most common mobile robots are wheeled or tracked, which are more suitable for flat surface. These robots still have some difficulties and limitations to pass through tough terrain. Compared with wheeled or tracked robots, legged robots can perform better in tough terrain. There has been huge improvements in stability and mobility of the legged robot. In the view of energy, the performances of the legged robots are far less than wheeled or tracked robots. Many researchers have turned their attentions to the energy efficiency and energy consumption of legged robots
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