Optimization of Leg Mechanism and PD Control for Efficient Quadruped Robot Locomotion
محورهای موضوعی : فصلنامه شبیه سازی و تحلیل تکنولوژی های نوین در مهندسی مکانیکMobin Salehi 1 , Arash Emami 2 , Mojtaba Norozi 3
1 - Mechanical Engineering Department, Sharif University of Technology, Tehran, Tehran, Iran
2 - Mechanical Engineering Department, Islamic Azad University of Central Tehran Branch, Tehran, Tehran, Iran
3 - Industrial Engineering Department, Malek Ashtar University of Technology, Tehran, Tehran, Iran
کلید واژه: Quadruped, Genetic algorithm, Dynamics-independent control, Trotting gait,
چکیده مقاله :
This paper presents the design and control of a quadruped robot. One of the primary challenges in building quadruped robots is the need for high torque density actuators and an efficient control algorithm. To address these challenges, this work focuses on optimizing the transmission torque ratio of the 4-bar linkage used in the robot's legs, using a genetic algorithm. The optimization is achieved by deriving the kinematic equations of the robot’s legs and introducing a novel objective function tailored to the robot’s application. To evaluate the impact of the optimization, the full dynamics of the robot are derived and validated through variations in total mechanical energy. A kinematics-based controller, suitable for real-time applications, is proposed, and its performance is tested in various scenarios to assess its effectiveness. The controller is applied to robots with two different linkage lengths, one optimized for maximum and the other for minimum torque requirements. The results show that the optimization reduces the required torque by nearly 42% when comparing the maximum to the minimum case.
This paper presents the design and control of a quadruped robot. One of the primary challenges in building quadruped robots is the need for high torque density actuators and an efficient control algorithm. To address these challenges, this work focuses on optimizing the transmission torque ratio of the 4-bar linkage used in the robot's legs, using a genetic algorithm. The optimization is achieved by deriving the kinematic equations of the robot’s legs and introducing a novel objective function tailored to the robot’s application. To evaluate the impact of the optimization, the full dynamics of the robot are derived and validated through variations in total mechanical energy. A kinematics-based controller, suitable for real-time applications, is proposed, and its performance is tested in various scenarios to assess its effectiveness. The controller is applied to robots with two different linkage lengths, one optimized for maximum and the other for minimum torque requirements. The results show that the optimization reduces the required torque by nearly 42% when comparing the maximum to the minimum case.
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