Optimized Foothold Planning and Posture Searching for Energy-Efficient Quadruped Locomotion over Challenging Terrains
Lu Chen,Shusheng Ye,Caiming Sun,Aidong Zhang,Ganyu Deng,Tianjiao Liao,Lu Chen,Shusheng Ye,Caiming Sun,Aidong Zhang,Ganyu Deng,Tianjiao Liao
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 ...
