Optimization and control method for aerial jumping trajectory of quadruped robots
A trajectory optimization control method inspired by biomimetic leaping is proposed to address the challenge of traversing large-scale obstacles for quadruped robots. Firstly, tests and bionic analysis of hurdle jumping in Malinois dogs are conducted to derive a reference trajectory for leaping. Subsequently, considering constraints such as friction cones, trajectory smoothing, kinematics, and dynamics, an offline optimization method is applied to the biomimetic reference trajectory to generate the desired jumping trajectory for quadruped robots. This process yields the necessary foot positions, joint torque, and joint angle sequences for executing the leap. Thirdly, a staged jumping controller is designed, employing a combination of joint and centroid Proportional Derivative (PD) control strate-gies to track the desired jumping trajectory. Additionally, variable stiffness virtual model control is em-ployed to adjust the landing posture and cushion foot forces. Finally, simulation experiments involving free fall from a 1 meter height and leaping over a 0.75 meters high table are conducted using the We-bots simulation environment. The research findings demonstrate that the biomimetic trajectory optimization and control algorithm enable quadruped robots to leap over large obstacles with smooth landings. This capability enhances their high-performance locomotion capabilities and broadens their potential application environments.
quadruped robotsbionicstrajectory optimizationjumpingvirtual model control
万方数据
维普
