Optimized Foothold Planning and Posture Searching for Energy-Efficient Quadruped Locomotion Over Challenging Terrains

Lu Chen1, Shusheng Ye2, Caiming Sun3, Aidong Zhang3, Ganyu Deng3, Tianjiao Liao3

  • 1Peng Cheng Laboratory (PCL) , Shenzhen, China
  • 2The Chinese University of Hong Kong (CUHK), Shenzhen, China
  • 3the Chinese University of Hong Kong, Shenzhen

Details

09:45 - 10:00 | Mon 1 Jun | Room T10 | MoA10.3

Session: Legged Robots I

Abstract

Energy-efficient locomotion is of primary importance for legged robot to extend operation time in practical applications. This paper presents an approach to achieve energy-efficient locomotion for a quadrupedal robot walking over challenging terrains. Firstly, we optimize the nominal stance parameters based on the analysis of leg torque distribution. Secondly, we proposed the foothold planner and the center of gravity (COG) trajectory planner working together to guide the robot to place its standing legs in an energy-saving stance posture. We have validated the effectiveness of our method on a real quadrupedal robot in experiments including autonomously walking on plain ground and climbing stairs.