Trajectory Optimization Strategy That Considers Body Tip-Over Stability, Limb Dynamics, and Motion Continuity in Legged Robots
Kuan-Lun Lu,I-Chia Chang,Wei-Shun Yu,Pei-Chun Lin,Kuan-Lun Lu,I-Chia Chang,Wei-Shun Yu,Pei-Chun Lin
We propose a limb trajectory planning method that considers both body and limb dynamics in robots, particularly suitable for those with non-trivial limb mass. To simplify the complexity and computation cost of using the full-body dynamics of the limbs, a reduced-order model that can simulate the dynamic characteristics of the original limb is proposed. The performance of the model is experimentall...
