Motion Planning Algorithm Based on Overall Trajectory for Locomotion of 6-legged Robot

Authors

Zuhua Guo, School of Aeronautics, Beihang University, Beijing 100191, China;
Shenjiang Wang, School of Aeronautics, Beihang University, Beijing 100191, China;
Shijie Zhao, School of Aeronautics, Beihang University, Beijing 100191, China;

Abstract

Abstract: A traditional motion planning method based on gaits is difficult to adopt to complicate nature terrain. In order to solve the problem, a planning algorithm based on overall trajectory was proposed. The basic unit of robot maneuver was a walking step. The proposed method was to estimate position of robot in the next moment along a given overall trajectory, and then to plan the joints’ trajectory of robot. In this algorithm, the motion of a single step was decomposed into two parts, the motion of moving robot body with support of legs and the motion of swinging legs forward, which performed in same time. A parametric parabola was used to describe the trajectory of the motions to avoid the problem that trajectories depended on a reference coordinate system in traditional method. It is convenient to realize online trajectory planning. A detail motion planning algorithm was discussed and proved by a simulation.

Recommended Citation

Guo, Zuhua; Wang, Shenjiang; and Zhao, Shijie (2020) "Motion Planning Algorithm Based on Overall Trajectory for Locomotion of 6-legged Robot," Journal of System Simulation: Vol. 27: Iss. 11, Article 9.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss11/9

First Page

2682

Revised Date

2015-03-30

DOI Link

https://doi.org/

Last Page

2688

CLC

TP242.6

Recommended Citation

Guo Zuhua, Wang Shenjiang, Zhao Shijie. Motion Planning Algorithm Based on Overall Trajectory for Locomotion of 6-legged Robot[J]. Journal of System Simulation, 2015, 27(11): 2682-2688.