Abstract
To enable quadruped robot to walk through unknown rough terrains without any machine vision system, a continuous static gait planning method is proposed in this paper. A algorithm for on-line terrain complexity evaluation according to touchdown times of swing feet is presented to make quadruped robot obtain the information of terrain without relying on machine vision system. Quadruped robot can obtain enough stability margin during walking process by using the proposed body trajectory planning method, and motion continuity of body can be guaranteed. In order to improve the terrain adaptability of quadruped robot, a tunable parameter is set in the body planning method, and the relationship between value of the tunable parameter and terrain complexity estimation is given to further improve terrain adaptability and energy utilization rate. With the proposed static gait generation method, quadruped robot can autonomous plan its static gait in real-time and travel over unknown rough terrains with enough stability margin. The simulation results show the correctness and effectiveness of the proposed method.
Highlights
Quadruped robots can walk on rough terrains, even on complex terrain that wheeled and tracked robots cannot cross [1]
This paper presents a continuous static gait generation method for quadruped robots based on on-line terrain complexity estimation
It is proved that quadruped robot can walking on different types of rough terrain by using the static gait planning method proposed in this paper
Summary
Quadruped robots can walk on rough terrains, even on complex terrain that wheeled and tracked robots cannot cross [1]. Second-order exponential smoothing model is applied to the prediction of estimation terrain complexity in the (m + 1)-th gait cycle, and use the estimated result to set the value of tunable parameter in the proposed body trajectory generation of quadruped robot. In order to facilitate description of the proposed body trajectory planning method, the labels are assigned for the four footholds between support feet and terrain in the coordinate system {PO} when robot is in BSP. In order to ensure the motion continuity of robot’s body in BSP, according to the determined coordinates of point BP and F P, a method of generating the body trajectory based on quintic equation is proposed. =BSPyE where t ∈ [TBSP, TBSP + TFSP], TFSP represents the planning time for the robot to complete FSP
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