Optimized Method for Planning and Controlling the Somersault Motion of Quadruped Robot
Teng Chen Xuewen Rong Yibin Li Teng Chen Xuewen Rong Yibin Li
A method for planning and controlling the somersault motion of a quadruped robot is proposed in this paper. The method divides the somersault motion into 5 stages according to intuitive understanding. Based on the simplified dynamic model, the linear programming method is used to obtain the maximum ground reaction force under the constraints of joint torque and friction cone, and then the optimal ...