The scope of the paper is to develop a methodology for finding optimal gaits of a quadruped robot using genetic algorithm, comparing the results to the ones resulting from natural evolution. The optimization is performed over pre-imposed contact forces to find the best shapes that guarantees the minimum en-ergy consumption during a single stride cycle. The dynamic formulation of the four-dimensional model is developed without involving any specific kinematic mechanism for the legs, considering the entire gait spectrum a quadruped can exhibit. The optimization model consists of a set of constraints that ensure the feasibility and stability of the gaits. Results are presented for an optimization re-quiring a constant speed of 1.35 /. The optimal gait was found to be consistent to nature, suggesting that energy consumption is one of the key factors contrib-uting to the evolution of gaiting patterns in quadrupeds. Eventually, a comparison between different existing gait patterns is carried out in terms of foot contact time and energy consumption.
Gait optimization method for quadruped locomotion
01.01.2022
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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