Gait Planning and Turning Motion Control of Quadruped Robots Using Composite Cycloid Foot Trajectory

Gait Planning and Turning Motion Control of Quadruped Robots Using Composite Cycloid Foot Trajectory

This article delves into the realm of quadruped robot locomotion, specifically focusing on the utilization of composite cycloid curves for efficient foot trajectory planning.

Key areas explored:

• Quadruped Robot: The article centers on the movement optimization of four-legged robots.
• Foot Trajectory Planning: A detailed analysis of how a robot's foot moves through space, using composite cycloid curves for smooth and natural motion.
• Composite Cycloid: This mathematical curve is employed to generate a desirable foot trajectory, enabling the robot to navigate its environment effectively.
• Gait Planning: Examining the different walking patterns (gaits) a quadruped robot can adopt, such as walking, trotting, or running.
• Turning Motion: Investigating how the robot achieves smooth and controlled turns using the proposed foot trajectory planning method.

By employing composite cycloid curves in foot trajectory planning, this research aims to enhance the agility, stability, and overall locomotion capabilities of quadruped robots. This approach can potentially lead to more versatile and robust robots for various applications, including exploration, search and rescue, and more.