2023
DOI: 10.1049/csy2.12094
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Body trajectory optimisation of walking gait for a quadruped robot

Abstract: To ensure that the robot can follow the planned trajectory, smooth switching between swinging legs and a smooth transition of motion process is realised. The previous motion planning work is analysed, and a method for improving the optimisation objective function and constraint conditions is proposed to eliminate the sudden change of acceleration and reduce the peak value of acceleration change. This method eliminates the impact phenomenon in the motor drive process and reduces the motor drive energy consumpti… Show more

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References 33 publications
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