Foot trajectory and gait planning of quadruped robot

Abstract

Foot trajectory and gait planning is one of the important research fields of foot robot. The eighth order polynomial is used to plan the trajectory of each joint of the robot leg, so that the Angle, angular velocity and angular acceleration curves of each joint during leg movement can be smooth and continuous, so as to improve the smooth and quick action of the leg movement. Through MATLAB simulation and robot experiment, it is proved that the eight-order polynomial can keep the legs of the robot continuously and smoothly in the process of movement, reduce the impact of the mutation of the joint movement on the legs of the robot, so that the running trajectory of the robot can be optimized to a certain extent.