Foot Trajectory Planning Method with Adjustable Parameters for Complex Environment

摘要

In order to ensure a stable and continuous walking of the quadruped robot in complex environment, a low impact foot trajectory planning method for walk gait is proposed. Firstly, a four-legged robot single-leg model with three active degrees of freedom and one passive degree of freedom is constructed. The kinematics analysis is carried out, and the foot trajectory tracking controller based on motion space is designed. Then the single-leg motion of the robot in complex environment is analysed, and the foot trajectory based on the 3rd-order bezier curve satisfying the obstacle condition is proposed. After that the method of parameter determination is further clarified. In order to reduce the impact force between the foot and the ground, the sigmoid function is introduced to process the foot trajectory. The simulation results show that through the improved bezier method, the impact between the foot and the ground can be effectively reduced.