[2021-Vol.18-Issue 6]An Efficient Gait-generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach
Post: 2021-12-23 14:17  View:166

Journal of Bionic Engineering (2021) 18:1463–1474

An Efcient Gait-generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach 

Lelai Zhou1,2 · Tianfa Li1,2 · Zaiyang Liu1,2 · Yibin Li1,2 

1 School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan 250061, China
2 Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan 250061, China

Abstract The research feld of legged robots has always relied on the bionic robotic research, especially in locomotion regulating approaches, such as foot trajectory planning, body stability regulating and energy efciency prompting. Minimizing energy consumption and keeping the stability of body are considered as two main characteristics of human walking. This work devotes to develop an energy-efcient gait control method for electrical quadruped robots with the inspiration of human walking pattern. Based on the mechanical power distribution trend, an efcient humanoid power redistribution approach is established for the electrical quadruped robot. Through studying the walking behavior acted by mankind, such as the foot trajectory and change of mechanical power, we believe that the proposed controller which includes the bionic foot movement trajectory and humanoid power redistribution method can be implemented on the electrical quadruped robot prototype. The stability and energy efciency of the proposed controller are tested by the simulation and the single-leg prototype experiment. The results verify that the humanoid power planning approach can improve the energy efciency of the electrical quadruped robots. 

Keywords Bionic robot · Mechanical power · Bionic trajectory · Quadruped robot


Humanoid controller for the robot

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