Title: Optimal gait generation for quadruped robots using mesh adaptive direct search

Authors: Shabnam Shakourzadeh; Mohammad Farrokhi

Addresses: Department of Electrical Engineering, Iran University of Science and Technology, Tehran, 16846-13114, Iran ' Department of Electrical Engineering, Iran University of Science and Technology, Tehran, 16846-13114, Iran

Abstract: This paper utilises the mesh adaptive direct search (MADS) method to design an optimal gait generation for a quadruped robot with nine degrees of freedom moving in the sagittal plane. To this end, an optimisation method for the simultaneous optimisation of the objective function with physical and environmental constraints is considered. The proposed method is compared with the polynomial function method, which has been widely used in literature. The simulation results show good performance of the proposed gait generation in tracking the desired joint angles of the robot with less required torques.

Keywords: constraint optimisation; gait generation; quadruped robots; mesh adaptive direct search; MADS; walking robots; legged locomotion; robot gait; simulation; robot tracking; joint angles; torque.

DOI: 10.1504/IJMMNO.2016.074376

International Journal of Mathematical Modelling and Numerical Optimisation, 2016 Vol.7 No.1, pp.66 - 82

Received: 24 Jan 2015
Accepted: 25 Aug 2015

Published online: 23 Jan 2016 *

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