Attitude Trajectory Optimization to Ensure Balance Hexapod Locomotion

Abstract

This paper proposes a simple attitude trajectory optimization method to enhance the walking balance of a large-size hexapod robot. To achieve balance motion control of a large-size hexapod robot on different outdoor terrains, we planned the balance attitude trajectories of the robot during walking and introduced how leg trajectories are generated based on the planned attitude trajectories. While planning the attitude trajectories, high order polynomial interpolation was employed with attitude fluctuation counteraction considered. Constraints that the planned attitude trajectories must satisfy during walking were well-considered. The trajectory of the swing leg was well designed with the terrain attitude considered to improve the environmental adaptability of the robot during the attitude adjustment process, and the trajectory of the support leg was automatically generated to satisfy the demand of the balance attitude trajectories planned. Comparative experiments of the real large-size hexapod robot walking on different terrains were carried out to validate the effectiveness and applicability of the attitude trajectory optimization method proposed, which demonstrated that, compared with the currently developed balance motion controllers, the attitude trajectory optimization method proposed can simplify the control system design and improve the walking balance of a hexapod robot.

Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains

“…In the foothold planning scientific approach, the control posture is obtained by developing gait planning methods to adapt the foothold position according to the ground discontinuities [29][30][31][32][33]. The presented method can be implemented by using the data provided by a gyroscope or an Inertial Measurement Unit (IMU) as input of a kinematic-based control for the limbs' actuation [32,[34][35][36][37].…”

Autonomous Trajectory Generation Algorithms for Spacecraft Slew Maneuvers

“…Following the former deterministic thread of thinking, deterministic optimal assertion of self-awareness and optimal learning were formulated in [16]. With a renewed focus on attitude trajectory optimization [17], disturbance minimizing trajectories for space robots was just proposed [18]. Finally, convex optimization for trajectory generation [19] was presented amidst a focus on rapid maneuvering agile satellites in constellations [20].…”

“…Chen, et al, [17] illustrated that attitude trajectory optimization can simplify control system design and improve relative performance. In this most recent resurgent strand of research, this manuscript examines convex trajectory optimization using Pontryagin's methods for control minimization [23] and compares several instantiations to comparable variants utilizing the sinusoidal trajectory generation ubiquitously presented in avenues of research in deterministic artificial intelligence expanded in this present treatment.…”