Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory
Joint Authors
Chen, Mingfang
Liu, Fei
Zhang, Kaixiang
Wang, Sen
Liu, Jinxin
Zhang, Yongxia
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-07-01
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
Trajectory planning is the foundation of locomotion control for quadruped robots.
This paper proposes a bionic foot-end trajectory which can adapt to many kinds of terrains and gaits based on the idea of trajectory planning combining Cartesian space with joint space.
Trajectory points are picked for inverse kinematics solution, and then quintic polynomials are used to plan joint space trajectories.
In order to ensure that the foot-end trajectory generated by the joint trajectory planning is closer to the original Cartesian trajectory, the distributions of the interpolation point are analyzed from the spatial domain to temporal domain.
An evaluation function was established to assess the closeness degree between the actual trajectory and the original curve.
Subsequently, the particle swarm optimization (PSO) algorithm and genetic algorithm (GA) for the points selection are used to obtain a more precise trajectory.
Simulation and physical prototype experiments were included to support the correctness and effectiveness of the algorithms and the conclusions.
American Psychological Association (APA)
Chen, Mingfang& Zhang, Kaixiang& Wang, Sen& Liu, Fei& Liu, Jinxin& Zhang, Yongxia. 2020. Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory. Complexity،Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1141468
Modern Language Association (MLA)
Chen, Mingfang…[et al.]. Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory. Complexity No. 2020 (2020), pp.1-17.
https://search.emarefa.net/detail/BIM-1141468
American Medical Association (AMA)
Chen, Mingfang& Zhang, Kaixiang& Wang, Sen& Liu, Fei& Liu, Jinxin& Zhang, Yongxia. Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory. Complexity. 2020. Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1141468
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1141468