Open AccessModeling and analysis on low energy consumption foot trajectory for hydraulic actuated quadruped robot
Author(s) -
Yaru Sun,
Zisen Hua,
Yibin Li,
Hui Chai,
XianHua Li,
Bo Su
Publication year - 2021
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.1177/17298814211062006
Subject(s) - trajectory , computer science , energy consumption , control theory (sociology) , robot , swing , actuator , hydraulic cylinder , gait , simulation , spline interpolation , gait cycle , engineering , physics , mechanical engineering , artificial intelligence , kinematics , control (management) , classical mechanics , astronomy , computer vision , electrical engineering , bilinear interpolation , physiology , biology
According to the energy consumption characteristics of hydraulic actuator, the valuable foot trajectory characterized by using segmented cubic spline interpolation curve in the swing phase is proposed firstly to reduce the energy consumption of quadruped robots, which is implemented by using controlling parameters t f to change the duration of leg raising and falling in one gait cycle, and then realized the directly control to the time ratio between the piston extension and retraction. Then, the total energy consumption of the hydraulic actuated quadruped robot SCalf-II is modeled. Meanwhile, the parameters of the foot trajectory that have a large impact on the energy consumption are determined. Finally, simulation analysis and verification experiments of the robot moving with constant speeds at the key parameters are performed. The results show that for the given foot trajectory, the optimization ranges of the gait cycle and duration of leg lifting from the lowest to highest are determined in which the energy required for the robot locomotion is at a relatively low level.