Energy efficiency has been the focus of quadruped robot research. Decreasing the energy loss caused by the DC motor can contribute to the walking efficiency of electrically actuated quadruped robots. Most works have focused on the quadruped mechanisms or actuations such as the Series Elastic Actuation (SEA). This work proposes a better efficient controller to perform the stable 5 m·s⁻¹ movements of quadruped robots. The dynamic model of the electrically actuated leg is established by Lagrangian formulation. The energy efficiency of the DC motors in the electrically actuated quadruped robot is formulated as an optimization problem. The Stochastic Linear Complementarity Problem (SLCP) and sinusoidal pulse force are proposed to reduce the energy consumption at the contact. The Bernstein polynomials are used for planning a quasi-elliptic foot motion trajectory. The stability and energy efficiency of the proposed controller are verified with computer simulation and an actual single leg robot prototype. Compared with other works, the proposed controller performs the optimal Cost of Transport (COT).

中文翻译：

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基于SLCP的电动四足机器人节能运动控制器

能源效率一直是四足机器人研究的重点。减少由直流电动机引起的能量损耗可以提高电动四足机器人的行走效率。大多数工作都集中在四足机构或驱动器上，例如系列弹性驱动器（SEA）。这项工作提出了一个更好的高效控制器来执行稳定的5 m·s ^-1四足机器人的动作。通过拉格朗日公式建立电动腿的动力学模型。电动四足机器人中的直流电动机的能量效率被公式化为优化问题。提出了随机线性互补问题（SLCP）和正弦脉冲力以减少触点的能量消耗。Bernstein多项式用于规划准椭圆形的脚运动轨迹。通过计算机仿真和实际的单腿机器人原型验证了所提出控制器的稳定性和能效。与其他工作相比，拟议中的控制器可实现最佳运输成本（COT）。