Gait Optimization for Spider Robot with Investigation of Trade-Off Between Stability and Speed Using Jaya Multi-objective Optimization Algorithm

To guarantee that a four-legged robot moves organically and consumes less energy, the legs must move in a pattern. Since modern technology cannot create four-legged beings with incredibly complex structures and exact actions, this is still a difficult problem. This work studies the balance between speed and stability and presents a gait generation model for a spider robot. First, four gait parameters—vertical step length, horizontal step length, leg lift, and knee bend—are determined by the robot spider's movement rules. The hip and foot trajectories at each leg are determined by the third-order interpolation function. The orbits of the hips and feet at the four legs of the robot spider will be utilized to infer twelve joint angle orbits at those places by using analytical techniques to solve the inverse kinematics problem. Then, a multi-objective function is proposed concerning speed and stability based on the gait characteristics (gait parameters, CoP/ZMP trajectory) of the robot spider from twelve joint angle orbits at the four legs of the robot spider to train the gait generation model by addressing the forward kinematics issue analytically. At last, four ideal gait parameters are determined using the multi-object JAYA optimization technique, allowing the robot spider to move steadily and quickly. Simulation results indicate that when this idea is applied to B3-SBOT, it walks steadily and at the fastest possible gait.