Energy Efficiency Analysis of Quadruped Robot with Trot Gait and Combined Cycloid Foot Trajectory

作     者：LEI Jingtao WANG Feng YU Huangying WANG Tianmiao YUAN Peijiang 

作者机构：School of Mechatronic Engineering and Automation Shanghai University School of Mechanical Engineering and Automation Beihang University 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2014年第27卷第1期

页      面：138-145页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by National Natural Science Foundation of China(Grant No.51375289) Shanghai Municipal National Natural Science Foundation of China(Grant No.13ZR1415500) Innovation Fund of Shanghai Education Commission of China(Grant No.13YZ020) 

主　　题：quadruped robot trot gait trajectory planning dynamic modeling energy efficiency 

摘      要：Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.