Leg Swing Trajectory Generation of Quadruped Robot Considering Required Torque Reduction and Leg Function Distribution

摘要

This study deals with the LFD (Leg Functions Distributirnon) method for efficiency of quadruped locomotion. Wernassumed that foreleg of quadruped robot take on thernsupport role of maintaining the robot's weight, and thernrear leg performs the propulsion role for an advance. Tornassign a proper swing trajectory which follows upperrnrule, this study applies the DME (DynamicrnManipulability Ellipsoid) of the fore and rear legs. Tornverify the efficiency of the refined swing trajectory,rndynamic simulation is performed and compared itsrnresults before and after the treatment of swing trajectoryrnmodification. The results of the torque effectiveness ofrneach joint are presented under the comparison byrnanalysis of quadruped locomotion on the flat.