Time-optimal trajectory planning method for six-legged robots under actuator constraints

Current studies on time-optimal trajectory planning centers on cases with fixed base and only one end-effector. However, the free-floating body and the multiple legs of the legged robot make the current methods inapplicable. This paper proposes a time-optimal trajectory planning method for six-legged robots. The model of the optimization problem for six-legged robots is built by considering the base and the end-effectors separately. Both the actuator constraints and the gait cycle constraints are taken into account. A novel two-step optimization method is proposed to solve the optimization problem. The first step solves the time-optimal trajectory of the body and the second step solves the time-optimal trajectory of the swinging legs. Finally, the method is applied to a six-parallel-legged robot and validated by experiments on the prototype. The results show that the velocity of the optimized gait is improved by 17.8% in contrast to the non-optimized one.