Design and Gait Optimization of Quadruped Robot Based on Energy Conservation

Paper in proceeding, 2020

Stability and energy consumption are important performance indicators for quadruped robots. In this paper, a simple quadruped robot with high dynamic performance and a distributed control system based on CPG are designed. Moreover, the ADAMS-MATLAB joint simulation platform is established to study the influence of gait parameters on gait stability and energy consumption. The optimal step length is obtained through theoretical calculation, and a gait optimization strategy is proposed to improve the stability of the quadruped robot and reduce the energy consumption. Finally, a single-leg experiment platform was built to realize the robot's specific gait under optimized conditions and test the accuracy and robustness of the control system. The results of experiment and simulation show the feasibility of the design and gait optimization methods for the quadruped robot and achieve energy consumption and high dynamic performance.