Optimization and simulation on key parameters of foot trajectory for a hydraulic quadruped robot

摘要

The working environment for hydraulic quadruped robot is complex, which generates different demands on motion performance of the robot in different working conditions. In order to solve the problem of different robot performance requirements such as body stability, walking linearity and walking fastness in different environments, a new method was presented to improve the motion performance of the robot through optimizing degree of basic angle and the curvature of the foot trajectory. This method was adopted to analyze the corresponding parameters by using the controlling variable method, with the Bezier curve as the foot trajectory of the robot. Different foot trajectory curves were generated by changing the partial reference points of the Bezier curve. The method of optimizing key parameters for improving the motion performance of the robot was obtained by the simulation experiments using MATLAB and ADAMS and the comparative analysis of experimental data. The result of the simulation experiments shows that, the optimizing method can effectively improve the motion performance of the quadruped robot, and has practical engineering value and theoretical guidance meaning.