Title: Static gait planning method for quadruped robots on uneven terrain

Authors: Qixin Wang; Wende Ke; Qi Wen; Huazhong Li; Jian Zhang

Addresses: Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China ' Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China ' Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China ' School of Software, Shenzhen Institute of Information Technology, Shenzhen, 518172, China ' Department of Oil Saving Engineering, Yantai Longyuan Power Technology Co., Ltd., Yantai, 264010, China

Abstract: In order to improve the stable walking ability of quadruped robot in uneven terrain, the discontinuous gait of quadruped robot is designed based on the stability margin calculated by the pressure center method. Gait planning includes body centre of gravity trajectory planning and swing foot end trajectory planning. Sine acceleration curve is used to plan the body centre of gravity trajectory to ensure the continuity of the whole movement process. Aiming at the robot with the ability of environment perception, a kind of rectangular swinging foot end trajectory is designed, which has both flexible adaptability and moving speed. The simulation results show that the quadruped robot can pass through the uneven terrain area in real time and stably using the proposed static gait planning method.

Keywords: quadruped robot; static gait planning; trunk track; foot end track; constraint; uneven; stability; gravity; motion.

DOI: 10.1504/IJCSM.2021.120690

International Journal of Computing Science and Mathematics, 2021 Vol.14 No.4, pp.380 - 396

Received: 11 Jun 2020
Accepted: 07 Dec 2020
Published online: 03 Feb 2022 *

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