Body trajectory optimisation of walking gait for a quadruped robot

To ensure that the robot can follow planned trajectory, smooth switching between swinging legs and a transition of motion process is realised. The previous planning work analysed, method for improving optimisation objective function constraint conditions proposed to eliminate sudden change acceleration reduce peak value change. This eliminates impact phenomenon in motor drive reduces energy consumption, thus ensuring consistent movement robot. results show improved has better effect than approach terms centre mass speed, trajectory fitting body posture change, realises more robust quadruped robots senseless state.