Open Access

ARTICLE

Optimal motion planning of hopping robot based on pseudospectral method during flight phase

NI Yingge, MENG Xiangyan, Yingge Ni

* Corresponding Author: Yingge Ni ()

Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería 2023, 39(3), 1-7. https://doi.org/10.23967/j.rimni.2023.09.002

Accepted 31 August 2023; Issue published 18 September 2023

Abstract

The energy optimal motion planning of a hopping robot with three links is investigated in the flight phase. Firstly, the conservation equation of angular momentum of the hopping robot in the flight phase is established which is a nonholonomic constraint. Then the energy consumption of the robot in the flight phase is selected as the optimization goal. Given the initial and terminal positions, the Gaussian pseudospectrum method is used to solve the optimal control problem. The simulation results show that the initial angular momentum has a great influence on the performance of the hopping robot. With thezero initial angular momentum, although the flight time can be selected arbitrarily, the greater the flight time, the smaller the energy consumption, the force required by the robot is greater. Thus, it is necessary to select an appropriate value.

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Keywords

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