Algebraic-Based Velocity Profiling and Path Tracking of a Legged Robot: A Single Leg Case Study

The trajectory control of legged robots has been a challenging aspect in the field of robotics due to its complexity and trajectory errors are likely to occur as a result of the legged robot operating in 12 degrees of freedom. Current motion control approaches require a full knowledge of the dynamic of the system, and solutions are often found using optimisation tools. This work proposes a different approach: it studies the application of an algebraic approach that considers only the kinematic of the robot, and it can be extended to any configuration within certain constraints. To this end, we consider the velocities of the leg in the Cartesian space and the motion approach is formulated on the configuration space. Our approach is tested using one robotic leg, showing encourages results according to tracking errors, but the approach can be easily extended to 4 or 6 legged robots.