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Gait planning for a hopping robot

Published online by Cambridge University Press:  26 November 2014

S. S. Shabestari and
M. R. Emami
S. S. Shabestari
Affiliation:
RWTH Aachen University, Aachen, Nordrhein-Westfalen, Germany
M. R. Emami*
Affiliation:
University of Toronto Institute for Aerospace Studies, Toronto, Ontario, Canada
*
*Corresponding author. E-mail: emami@utias.utoronto.ca
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Summary

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An optimization model is developed in this paper for the joint trajectories of a hopping robot with a four-bar linkage leg. The dynamic behaviour of the one-legged robot is investigated during the stance and swing phases, and their impacts on gait planning are analysed. Certain constraints characterizing the continuous and cyclic motion of the robot are obtained. The optimization model is solved for the minimum torque and maximum velocity objective functions separately, and the results are compared with those in nature.

Keywords

Legged robotHopping robotGait planningGait optimizationMotion planning

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 8 , August 2016, pp. 1822 - 1840
Copyright
Copyright © Cambridge University Press 2014 

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