Abstract
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.
Highlights
Nowadays, legged robots have been a research hotspot and gained various attention [1,2,3,4].Quadruped robots have the advantages of fast motion speed, high flexibility, strong terrain adaptability, and high stability [5], which results in their great application prospects in material transportation, engineering exploration, rescue, and military investigation
Zhang et al investigated a static gait planning method based on terrain complexity estimation without any machine vision system for quadruped robot walking on unknown rough terrain [32]
The advantages of proposed exploratory gait planning method are as follows: (1) Touching down sensing is added, and it can deal with complex terrain calmly and enhance mobility; (2) Gait planning is relatively simple and parameters S, H are not affected by terrain; (3) The strong walking stability of intermittent gait 1 is inherited
Summary
Nowadays, legged robots have been a research hotspot and gained various attention [1,2,3,4]. Studied a hierarchically planning static gait for quadruped robot walking on rough terrain [27]. Zhang et al investigated a static gait planning method based on terrain complexity estimation without any machine vision system for quadruped robot walking on unknown rough terrain [32]. The overall aim is to look for a static gait of quadruped robots with the biggest stability margin and its control strategy for high terrain adaptability. An exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are investigated to further improve the terrain adaptability of quadruped robots.
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