Bezier Curve Based Foot Trajectory Control for Quadruped Robots

Foot trajectory is a key component in the motion control of quadruped robots, and the design of the foot trajectory of quadruped robots directly affects their stability, flexibility and motion efficiency in complex terrain. In this paper, a Bezier curve based foot trajectory generation method for quadruped robots is proposed. Compared with the conventional cycloid foot trajectory, the Bezier curve based foot trajectory of the quadruped robot significantly improves its stability when passing through the obstacle path. In the experiments of applying the Bezier curve based foot trajectory and the cycloid foot trajectory to the quadruped robot's trot gait for passing the obstacle path, it is shown that the body vibration of the quadruped robot with the Bezier curve based foot trajectory is reduced by 0.36g (g is the acceleration of gravity) compared to the cycloid foot trajectory, as well as in the experiment of the slope passing, the Bezier curve based foot trajectory is more stable compared to the cycloid foot trajectory. In the slope passing experiment, the Bezier curve based foot trajectory increases the velocity by 0.037 m/s and reduces the velocity amplitude by 0.046 m/s compared with the cycloid foot trajectory, which realizes smoother and more efficient motion control of the quadruped robot. The Bezier curve based foot trajectory proposed in this paper provides a reliable foot trajectory solution for the stable obstacle crossing of quadruped robots, and shows the prospect of wide application in the field of quadruped robot motion control.