The Optimization Algorithm for Gait Planning and Foot Trajectory on the Quadruped Robot

Abstract

The legged robot has strong structural flexibility and environmental adaptability, and can walk reliably under unstructured terrain such as mountains and hills. It has various uses and has become a research hotspot in the field of intelligent robots in recent years. In this paper, a quadruped robot is taken as the platform, and the gait planning of quadruped robot and the optimization method of its foot trajectory are studied: 1. the optimization design based on gait parameters. The optimization of step sequence focusing on static gait stability of quadruped robot problem, the optimal step sequence based on the stability margin of the support polygon is studied. 2. The optimization design based on foot trajectory. The influence of quadruped robot’s motion performance by changing the local geometric characteristics of foot trajectory was studied. 3. The structure design and the idea of the physical prototype of the quadruped bio-robot are expounded systematically in the paper. Using the optimized Bezier curve as the robot foot trajectory, the validity of the optimal design of the foot trajectory was reliably verified.