A Quasi-Elliptic Foot Trajectory Planning Approach Based on the Stochastic Linear Complementarity Problem for Electrical Quadruped Robots

被引：0

作者：

Li, Tianfa ^{[1
]}

Zhou, Lelai ^{[1
]}

Xuan, Wenlong ^{[1
]}

Rong, Xuewen ^{[1
]}

Chai, Hui ^{[1
]}

Li, Yibin ^{[1
]}

机构：

[1] Shandong Univ, Ctr Robot, Sch Control Sci & Engn, 17923 Jingshi Rd, Jinan, Shandong, Peoples R China

来源：

2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年

基金：

国家重点研发计划; 中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Energy efficiency has been the focus of the quadruped robots since the appearance of this field. Most approaches have focused on the quadrupedal mechanisms or the actuation like series elastic actuation (SEA). This work aims to develop an optimal energy efficiency method to plan a quasi-elliptic motion trajectory for the quadruped robots. The energy efficiency of the DC motors in the electric quadruped robot is formulated as an optimization problem. The Stochastic Linear Complementarity Problem (SLCP) and sinusoidal pulse force are proposed to minimize the energy loss at the impact collisions. The stability and energy efficiency of the proposed algorithm is verified with the computer simulation.

引用

页码：837 / 842

页数：6