Take-Off Motion Planning of Legged Hopping Robot with Redundancy Characteristic

Yong Bo Li; Min Qiang Xu; Yu Wei

doi:10.4028/www.scientific.net/AMR.823.127

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 823Take-Off Motion Planning of Legged Hopping Robot...

Take-Off Motion Planning of Legged Hopping Robot with Redundancy Characteristic

Abstract:

The planning for four-joint legged hopping robot with two redundant degrees of freedom at the take-off stage is researched. According to the take-off velocity and the boundary condition of centroid motion, the trajectory is planned with variable quartic polynomial interpolation. From inverse kinematics, the motion planning with redundancy characteristic is completed by using the GPM with continuous scale factor. Performance index of avoiding joint limit and optimizing joint driving torque are realized. The data indicates the feasibility and practicability of this algorithm.

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Periodical:

Advanced Materials Research (Volume 823)

Pages:

127-130

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.823.127

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Online since:

October 2013

Authors:

Yong Bo Li, Min Qiang Xu, Yu Wei

Keywords:

GPM, Hopping Robot, Inverse Kinematics, Motion Planning, Redundant

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