Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed....

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2020-08, Vol.20 (17), p.4911
Main Authors: Hao, Qian, Wang, Zhaoba, Wang, Junzheng, Chen, Guangrong
Format: Article
Language:English
Subjects:
Adaptability
Gait
high terrain adaptability
Investigations
Kinematics
Legs
Locomotion
Position sensing
quadruped robots
Robots
rough terrains
Stability
static gait
Tactile sensors (robotics)
Terrain
Walking
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Summary:Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.
ISSN:1424-8220
1424-8220
DOI:10.3390/s20174911