Gait planning for a hopping robot

被引：3

作者：

Shabestari, S. S. ^{[1
]}

Emami, M. R. ^{[2
]}

机构：

[1] Rhein Westfal TH Aachen, Aachen, Nordrhein Westf, Germany

[2] Univ Toronto, Inst Aerosp Studies, Toronto, ON, Canada

来源：

ROBOTICA | 2016年 / 34卷 / 08期

关键词：

Legged robot; Hopping robot; Gait planning; Gait optimization; Motion planning; LOCOMOTION; WALKING; DESIGN; SPEED;

D O I：

10.1017/S0263574714002598

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

An optimization model is developed in this paper for the joint trajectories of a hopping robot with a four-bar linkage leg. The dynamic behaviour of the one-legged robot is investigated during the stance and swing phases, and their impacts on gait planning are analysed. Certain constraints characterizing the continuous and cyclic motion of the robot are obtained. The optimization model is solved for the minimum torque and maximum velocity objective functions separately, and the results are compared with those in nature.

引用

页码：1822 / 1840

页数：19

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