ONLINE ADAPTIVE LEG TRAJECTORIES FOR MULTI-LEGGED WALKING ROBOTS

Compared to other robotic fields leg motion trajectories of multi-legged walking robots are often quite simple. Although, many walking robots have three or more joints per leg, they do not use their kinematic potential. In this work we propose an adaptive leg trajectory model as basis for a target-oriented trajectory optimization. Together with an interactive graphical editor the leg trajectory model allows robot developers to improve the energy efficiency, stability and velocity of walking robots. All presented components were successfully evaluated in simulation and on the six-legged walking robot LAURON IVc.