Sensors, Vol. 20, Pages 6295: Attitude Trajectory Optimization to Ensure Balance Hexapod Locomotion
Sensors, Vol. 20, Pages 6295: Attitude Trajectory Optimization to Ensure Balance Hexapod Locomotion
Sensors doi: 10.3390/s20216295
Authors:
Chen Chen
Wei Guo
Pengfei Wang
Lining Sun
Fusheng Zha
Junyi Shi
Mantian Li
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 atti...
Source: Sensors - Category: Biotechnology Authors: Chen Chen Wei Guo Pengfei Wang Lining Sun Fusheng Zha Junyi Shi Mantian Li Tags: Article Source Type: research
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