Optimal gait generation for quadruped robots using mesh adaptive direct search

摘要

This paper utilises the mesh adaptive direct search (MADS) method to design an optimal gait generation for a quadruped robot with nine degrees of freedom moving in the sagittal plane. To this end, an optimisation method for the simultaneous optimisation of the objective function with physical and environmental constraints is considered. The proposed method is compared with the polynomial function method, which has been widely used in literature. The simulation results show good performance of the proposed gait generation in tracking the desired joint angles of the robot with less required torques.