Quadruped Optimum Gaits Analysis for Planetary Exploration
نویسندگان
چکیده
Leg compliance, gravity and ground have a significant impact on the performance and gait characteristics of a quadruped robot. This paper presents results obtained using a planar lumped parameter model of a quadruped robot and an extensive research scheme to determine optimum design parameters for a quadruped moving in different gravity environments. Hildebrand diagrams are used to classify quadruped robot gaits. In addition, an optimization procedure using either MathWorks fmincon or a Differential Evolutionary (DE) algorithm is employed to determine the optimum motion and robot physical parameters related to energy efficiency. Using “multiple gait graphs”, the effects of leg compliance, gravity and ground inclination are determined.
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