Galloping Trajectory Generation of a Legged Transport Robot Based on Energy Consumption Optimization

Abstract EN

Legged walking robots have very strong operation ability in the complex surface and they are very suitable for transportation of tools, materials, and equipment in unstructured environment.

Aiming at the problems of energy consumption of legged transport robot during the fast moving, a method of galloping trajectory planning based on energy consumption optimization is proposed.

By establishing transition angle polynomials of flight phase, lift-off phase, and stance phase and constraint condition between each state phase, the locomotion equations of the ellipse trajectory are derived.

The transition angle of each state phase is introduced into the system energy consumption equations, and the energy optimization index based on transition angles is established.

Inverse kinematics solution and trajectory planning in one gait cycle are applied to genetic algorithm process to solve the nonlinear programming problem.

The results show that the optimized distribution of transition angles of state phases is more reasonable, and joint torques and system energy consumption are reduced effectively.

Thus, the method mentioned above has a great significance to realize fast operation outdoors of transport robot.