Abstract
This paper proposes optimum stepping points for quadruped robot in obstacle environment. Four legged walking robot is assumed and the leg is composed by two links with joint motors at the hip and the knee. Step planning in obstacle environment has an effect on energy consumption and moving time. Energy consumption decreases depending on the stride and the height of the hip. On the other hand, moving time for reaching the goal increases depending on them. It means that there exists optimum stepping point and moving posture based on energy consumption.
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