Velocity index and wading height based design method of trajectory parameters for a coupled parallelogram legged walking robot

This paper proposes a novel design method for trajectory parameters based on the velocity index and wading height, which is implemented on a six-legged robot with a coupled parallelogram leg (CPL) for wading scenarios such as shallow waters, harbors, and coastal areas. Design of trajectory parameters includes motion planning and initialization of the joint space angles. The parameters of motion planning are obtained from pre-tests, considering the characteristics of CPL, motor performance, and legged motion. The initial angles of the joint space are obtained using an objective function that considered the velocity index and wading height. By adjusting the coefficients of the objective function, the optimal initial angles of the joint space can be determined for different scenarios, leading to improved overall performance. The proposed approach was validated through experiments using a prototype and provided a reference for setting trajectory parameters in other legged robots.