Research About The Optimal Energy Consumption And Highly Fast Gaits Of Electrically Actuated Quadruped Robots

Legged robots have been a popular investigation field of mobile robots.The legged robots can outperform wheeled robots on many aspects,like high dynamic performance,adaptability to complex terrains.In recent years,based on the development of the bionics and deep learning,legged robots performed a series of achievement.Increasing energy efficiency and the discrete choice of the gait sequence can be a challenging task in multi-legged robots.The actuated prototype of the legged robots including the electrically actuated,the hydraulic actuated,and the pneumatic actuated.The electrically actuated prototype is simple for motion control.The electrically actuated prototype is popular on the field of legged robots.Based on the improvement of the lithium battery,the movement distance of the electrically actuated quadruped robot can be improved.The paper is based on the electrically actuated single leg robot prototype of the center for robot and the quadruped robot of Webots.The optimal energy consumption and the high-speed motion gait of the quadruped robot are described.The main content of the paper is described as follows:1.Based on the electrically actuated single leg robot,the paper proposes the kinematics and the dynamic models.The hardware control system and the real-time communication protocol are described.2.Based on the spring-loaded-inverted-pendulum(SLIP)model,the paper proposes the flying trot gait of the quadruped robot.Compared with the trot gait,the flying trot gait have two flight phases.The flying trot gait is verified with the computer simulation.3.The paper proposes the energy model of the quadruped robot in basis of the DC torque motor.The quasi-elliptic foot trajectory based on the stochastic linear complementary problem(SLCP)and the bionic motion trajectory are proposed to perform the requirement of the flying trot gait.4.The SLCP and sinusoidal pulse force are proposed to establish the high-speed motion controller.The energy balance and joint torque redistribution are proposed to implement the motion controller.The quadruped model of webots is established for testing the stability and energy efficiency of the two classic controller.