Quadruped Robot Gait Planning and Simulation: Achieving Stable Periodic Motion

The main goal of studying the gait of robots is to achieve stable periodic motion of robots. General gait planning includes foot trajectory planning and step sequence planning, combined with the relative time relationship between the two. The foot trajectory is divided into two parts: swing phase and stance phase, and the shape, speed, and acceleration of the two determine the motion characteristics of the single leg. The planned gait corresponds to different walking styles of the entire robot. Based on the idea that the velocity and acceleration of the constrained foot are zero when it comes into and leaves contact with the ground, an improved composite cycloidal foot trajectory is designed, and three different gait simulations are performed in combination with the improved fifth-order polynomial foot trajectory to form a data comparison.

By analyzing the changes in the center of mass position and RPY attitude angle of several gait simulation results, it can be concluded that the designed quadruped robot can replace the planned foot trajectory and gait, with good motion stability and no obvious dragging of the hind legs. This is the most basic action of a quadruped robot on a basic ground walking surface. If further research is conducted in the future, more conditions will be created for robots to maintain motion stability in complex environments based on this foundation.