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Movement Along the Trajectory of a Home Quadruped Robot

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Interactive Collaborative Robotics (ICR 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14214))

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Abstract

Home walking robots imitating pets have a high appeal due to increased maneuverability in a cramped home environment. Planning the movements of a home robot is an important component of the control system of a quadruped walking robot. The article deals with the problem of following the trajectory of a walking robot, which relates to motion planning. The article presents a model of a robot and a mathematical model of its legs. Two methods of approximation of the trajectory of motion are proposed in the article are piecewise linear approximation and approximation by arcs of a circle. The use of piecewise linear approximation makes it possible to solve the problem using simple robot movements. The use of approximation by arcs of a circle allows you to build a universal gait for a walking robot. The simulation of robot movements using two types of approximations is carried out. The article presents experimental modeling data. It is shown that the average speed of a walking robot with piecewise linear approximation is significantly lower than the speed of the robot moving in a straight line. The article presents the conclusions drawn from the results of experiments.

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Authors and Affiliations

  1. Federal Research Center “Computer Science and Control” of Russian Academy of Sciences, 44/2, Vavilova Street, 119333, Moscow, Russia

    Dmitry Dobrynin

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  1. Dmitry Dobrynin
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Correspondence to Dmitry Dobrynin .

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Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Institute of Control Systems of Ministry of Science and Education of the Republic of Azerbaijan, Baku, Azerbaijan

    Aminagha Sadigov

  3. V.A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Dobrynin, D. (2023). Movement Along the Trajectory of a Home Quadruped Robot. In: Ronzhin, A., Sadigov, A., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2023. Lecture Notes in Computer Science(), vol 14214. Springer, Cham. https://doi.org/10.1007/978-3-031-43111-1_12

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  • DOI: https://doi.org/10.1007/978-3-031-43111-1_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-43110-4

  • Online ISBN: 978-3-031-43111-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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