Foot Trajectory Generation for a Quadruped Home Robot

Abstract

This article discusses the construction of a foot trajectory for a quadruped walking robot with 12 degrees of freedom. A mathematical model of the robot leg for calculating inverse kinematics is given. The trajectory of the ro-bot’s foot motion is synthesized for uniform rectilinear motion of the robot. The foot trajectory is a basic element for constructing a smooth and stable gait of a walking robot. The trajectory of the robot’s foot consists of a support phase and a transfer phase. In the transfer phase, elliptical and rectilinear trajectories of the foot are used. Dependences of the robot leg drive parameters on time are constructed. The article analyzes these dependencies. It is shown that the maximum speeds and accelerations of the robot leg drives are achieved in the transfer phase. The possibility of optimizing the trajectory parameters for the specified drive parameters to obtain the maximum speed of the walking robot is shown. The trajectory of the robot leg prototype is tested on an experimental stand. It is shown that the executed trajectory has parameters that are in good agreement with the calculated values. In conclusion, practical conclusions are given on optimizing trajectory parameters in order to obtain maximum speed.