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Appl. Sci. 2019, 9(7), 1508;

Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
Author to whom correspondence should be addressed.
Received: 14 March 2019 / Revised: 7 April 2019 / Accepted: 9 April 2019 / Published: 11 April 2019
(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics)
PDF [8522 KB, uploaded 11 April 2019]


In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high acceleration and extensive loadings will be involved on the legs during the high-speed locomotion, the trade-off between the leg mass and strength is specifically designed and evaluated with the finite element analysis. Moreover, quadruped animals usually increase stride frequency and decrease contact time as the locomotion speed increases, while maintaining the swing duration during trot gait. Inspired by this phenomenon, the foot-end trajectory for quadruped robots with a high-speed trot gait is proposed. The gait trajectory is planned for swing and stance phase; thus the robot can keep its stability with adjustable trajectories while following a specific gait pattern. Especially for the swing phase, the proposed trajectory can minimize the maximum acceleration of legs and ensure the continuity of position, speed, and acceleration. Then, based on the kinematics analysis, the proposed trajectory is compared with the trajectory of Bézier curve for the power consumption. Finally, a simulation with Webots software is carried out for verifying the motion stability with two trajectory planning schemes respectively. Moreover, a motion capture device is used for evaluating the tracking accuracy of two schemes for obtaining an optimal gait trajectory suitable for high-speed trot gait. View Full-Text
Keywords: quadruped robots; high-speed locomotion; leg trajectory planning; trot gait; motion capture sensor quadruped robots; high-speed locomotion; leg trajectory planning; trot gait; motion capture sensor

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Zeng, X.; Zhang, S.; Zhang, H.; Li, X.; Zhou, H.; Fu, Y. Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait. Appl. Sci. 2019, 9, 1508.

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