Research on Foot Trajectory Initial Point Selection Strategy for Quadruped Robot

Foot trajectory planning is one of the pivotal technologies in quadruped robot research, crucial to both the walking efficiency and stability of quadruped robots. This paper delves into the influence of initial point selection strategies for foot trajectories from the perspective of motion stability. Firstly, a motion control model for quadruped robots is established based on kinematic analysis. Subsequently, the robot's locomotion gait and foot trajectories are planned, and a selection strategy for the initial trajectory points is proposed. This strategy is further analyzed in conjunction with the stability margin theory. Finally, simulation experiments are conducted to verify and analyze the control characteristics of different strategies.