Abstract
Quadruped walking robot has superior adaptability and high adaptive mobility in various environments. These special advantages are particularly prominent in the mobile robot community. In this work, we introduce the omnidirectional gait and the rotational gait approach, which is a generalized control algorithm for executing any directional instruction. In addition, in order to improve the stability of the quadruped walking robot, we optimize the walking Angle and foot order. The proposed ideas were applied to the practical design of MRWallspect III, which was designed to examine large surfaces in industrial facilities. The effectiveness of the proposed method is verified by experiments on a robot.
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