Gait Planning Of Quadruped Robot Based On Third-Order Spline Interpolation

摘要

This paper presented a brief description for the gait planning of quadruped robot named Aibo ERS-7 which is a standard platform in the RoboCup 4-legged league. We approach a spline shaped locus to reduce the dimension of the parameter optimizing space and solve the problem of the significant bias between the planned locus and the real one. The result shows that the spline shaped locus is effective in finding the optimized locus shape in a short time. Finally, the robot achieves a gait faster than any previously known learned gait for Aibo