An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot

Energy efficiency has been the focus of quadruped robot research.Decreasing the energy loss caused by the DC motor can contribute to the walking efficiency of electrically actuated quadruped robots.Most works have focused on the quadruped mechanisms or actuations such as the Series Elastic Actuation(SEA).This work proposes a better efficient controller to perform the stable 5 m·s-1 movements of quadruped robots.The dynamic model of the electrically actuated leg is established by Lagrangian formulation.The energy efficiency of the DC motors in the electrically actuated quadruped robot is formulated as an optimization problem.The Stochastic Linear Complementarity Problem(SLCP)and sinusoidal pulse force are proposed to reduce the energy consumption at the contact.The Bemstein polynomials are used for planning a quasi-elliptic foot motion trajectory.The stability and energy efficiency of the proposed controller are verified with computer simulation and an actual single leg robot prototype.Compared with other works,the proposed controller performs the optimal Cost of Transport(COT).

An Efficient Gait-generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach

The research field of legged robots has always relied on the bionic robotic research,especially in locomotion regulating approaches,such as foot trajectory planning,body stability regulating and energy efficiency prompting.Minimizing energy consumption and keeping the stability of body are considered as two main characteristics of human walking.This work devotes to develop an energy-efficient gait control method for electrical quadruped robots with the inspiration of human walking pattern.Based on the mechanical power distribution trend,an efficient humanoid power redistribution approach is established for the electrical quadruped robot.Through studying the walking behavior acted by mankind,such as the foot trajectory and change of mechanical power,we believe that the proposed controller which includes the bionic foot movement trajectory and humanoid power redistribution method can be implemented on the electrical quadruped robot prototype.The stability and energy efficiency of the proposed controller are tested by the simulation and the single-leg prototype experiment.The results verify that the humanoid power planning approach can improve the energy efficiency of the electrical quadruped robots.