The invention provides a motion planning method for decreasing power and traffic consumption of a hydraulic-driven six-foot robot, relates to the field of motion planning of foot type robots, and aims at solving the problem of large power and flow demand of the six-foot robot under the existing motion planning method. The motion planning method comprises the steps of 1, determining the position constraint and speed constraint of the foot ends in the marching direction of the six-foot robot; 2, planning the motion track of the foot ends in a supporting phase according to the motion requirement of the six-foot robot and the constraint conditions determined in step 1; 3, planning the motion track of the foot ends in a swinging phase according to the motion requirement of the six-foot robot and the constraint conditions determined instep 1. With the adoption of the method, the power and the traffic consumption of the hydraulic-driven six-foot robot can be decreased, the size and weight of the whole six-foot robot can be decreased, and therefore, the energy utilization rate of the six-foot robot can be increased.
Motion planning method for decreasing power and traffic consumption of hydraulic-driven six-foot robot
2015-04-22
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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