A comparison between free motion planning algorithms applied to a quadruped robot leg

In this work a comparison between an optimal power consumption algorithm proposed by the authors and two classical methods for the generation of trajectories is discussed. The proposed algorithm is designed to low level of control, where variables such as terminal states, runtime and physical and electrical parameters of the movement are all provided by higher levels of control. An original complex problem of optimization is transformed into a simple quadratic programming problem subject to linear constraints by discretizing all dynamic system variables. The performance of the algorithm is illustrated by using it in the motion planning of a quadruped robot leg.