优化四足机器人步态参数，显著降低能耗。
Refining Motion for Peak Performance: Identifying Optimal Gait Parameters for Energy-Efficient Quadrupedal Bounding
- 通过独立调节步态周期、相位差和支撑占比来控制运动。
- 在三种速度下，最优步态使能耗降低显著。
- 成果可直接应用于商业四足机器人平台。
能量效率是四足机器人性能与自主性的关键因素。尽管以往研究多聚焦于机械结构与驱动系统改进，但步态参数对能耗的影响仍缺乏深入探讨。本文提出假设：步态参数（包括支撑占比、相位差和步幅周期）是决定四足运动能耗的关键因素。为此，我们构建了Unitree A1机器人的仿真模型，并开发了可独立调节上述参数的运动控制器。在Gazebo中针对不同速度（低、中、高）进行了一系列跳跃步态的仿真测试，并通过实验验证了仿真结果。结果显示，通过优化步态参数可显著降低能耗，提升四足运动的整体能效。该工作为足式机器人高效控制策略的发展提供了支持，研究成果可直接应用于现有商用平台。
原文摘要 · Abstract (English)
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, the impact of gait parameters on energetics has been less explored. In this paper, we hypothesize that gait parameters, specifically duty factor, phase shift, and stride duration, are key determinants of energy consumption in quadrupedal locomotion. To test this hypothesis, we modeled the Unitree A1 quadrupedal robot and developed a locomotion controller capable of independently adjusting these gait parameters. Simulations of bounding gaits were conducted in Gazebo across a range of gait parameters at three different speeds: low, medium, and high. Experimental tests were also performed to validate the simulation results. The findings demonstrate that optimizing gait parameters can lead to significant reductions in energy consumption, enhancing the overall efficiency of quadrupedal locomotion. This work contributes to the advancement of energy-efficient control strategies for legged robots, offering insights directly applicable to commercially available platforms.
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