Energy-Efficient Dynamic Motion Planning of Quadruped Robots via Whole-body Nonlinear Trajectory Optimization
Authors: 
Qi Li, Letian Qian, Peng Sun, Xin LuoAuthors Info & Claims
Qi Li, Letian Qian, Peng Sun, Xin LuoAuthors Info & ClaimsPages 1610 - 1615
Abstract
Energy-efficient locomotion is an important capability for quadruped robots. Most of existing physically-embodied robots do not have satisfactory energy-efficiency in spite of abilities of diverse gaits and negotiation of complex environments. In this paper, we present a whole-body nonlinear trajectory optimization framework for energy-efficient motion planning of quadruped robots, in which whole-body dynamic model of robot is enforced as dynamic constraints in the optimization, and mechanical actuator work is directly penalized in the cost function. The results presented show the potential of the optimization framework for effectively gait motion generation while optimizing the energy consumption and conforming the dynamics of the robot.
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Aug 2022
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Published: 07 August 2022
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