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[2018-Vol.15-Issue 4]Inverse Kinematics Analysis and COG Trajectory Planning Algorithms for Stable Walking of a Quadruped Robot with Redundant DOFs
发布时间： 2018-09-03 11:01  点击：1931
Journal of Bionic Engineering
Volume 15, Issue 3, May 2018, Pages 610-622.
 
Hyunkyoo Park1, Bokeon Kwak2, Joonbum Bae2*
1. LG-electronics, Seoul 08592, Republic of Korea
2. Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, Republic of Korea
Abstract  This paper presents a new Center of Gravity (COG) trajectory planning algorithm for a quadruped robot with redundant Degrees of Freedom (DOFs). Each leg has 7 DOFs, which allow the robot to exploit its kinematic redundancy for various locomotion and manipu-lation tasks. Also, the robot can suitably adapt to different environment (e.g., passing through a narrow gap) by simply changing the body posture. However, the robot has significant COG movement during the leg swinging phase due to the heavy leg weights; the weight of all the four legs takes up 80% of the robot’s total weight. To achieve stable walking in the presence of undesired COG movements, a new COG trajectory planning algorithm was proposed by using a combined Jacobian of COG and centroid of a support polygon including a foot contact constraint. Additionally, the inverse kinematics of each leg was solved by modified improved Jacobian pseudoinverse (mIJP) algorithm. The mIJP algorithm could generate desired trajectories for the joints even when the robot’s leg is in a singular posture. Owing to these proposed methods, the robot was able to perform various modes of locomotion both in simulations and experiments with improved stability.
Key words：legged robot      redundant degree-of-freedoms      stable walking      center-of-gravity planning  Full text is available at :https://link.springer.com/article/10.1007/s42235-018-0050-8

 

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