Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain

Quadruped robot has great potential to walk on rough terrain, in which static gait is preferred. A hierarchical structure based controlling algorithm is proposed in this paper, in which trajectory of robot center is searched, and then static gaits are generated along such trajectory. Firstly, cost m...

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Bibliographic Details
Published in:Journal of robotics 2019-01, Vol.2019 (2019), p.1-12
Main Authors: Wang, Yangwei, Li, Jian, Gao, Hewei, Li, Xingdong, Guo, Yanling
Format: Article
Language:English
Subjects:
Algorithms
Apprenticeship
Automation
Computer simulation
Computing costs
Construction costs
Gait
International conferences
Robotics
Robots
Rough terrain
Structural hierarchy
Trajectories
Walking
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Summary:Quadruped robot has great potential to walk on rough terrain, in which static gait is preferred. A hierarchical structure based controlling algorithm is proposed in this paper, in which trajectory of robot center is searched, and then static gaits are generated along such trajectory. Firstly, cost map is constructed by computing terrain features under robot body and cost of selecting footholds at default positions, and then the trajectory of robot center in 2D space is searched using heuristic A⁎ algorithm. Secondly, robot state is defined from foothold and robot pose, and then state series are searched recursively along the trajectory of robot center to generate static gaits, where a tree-like structure is used to store such states. Lastly, a classical model for quadruped robot is designed, and then the controlling algorithm proposed in the paper is demonstrated on such robot model for both structured terrain and complex unstructured terrain in a simulation environment.
ISSN:1687-9600
1687-9619
DOI:10.1155/2019/3153195