Research on the crossover gait planning of a three-limb robot

The motion planning for the unique cross gait of a novel three-limb bio-robot with arm-leg integration was conducted. In order to improve its posture stability and the stability margin of absorption in the process of walking, the genetic algorithm was employed to solve the objective optimization problem of the absorption mechanism under load of the standing foot when walking in the cross gait. The cross gait of the robot was optimized and the corresponding gait optimization algorithm and parameters were obtained. The simulation and the experimental results demonstrated that after optimization of the cross gait, the acting moment that acted on the absorption mechanism was efficiently decreased, but staying fixed at the beginning of motion. And the robot possessed the excellent continuity, smoothness and stability.