Statically balanced stair climbing gait research for a hybrid quadruped robot

Abstract

This paper first introduced the mechanical specifications of a hybrid quadruped robot built by Harbin Institute of Technology, China. Then, for gait research convenience, described the mathematical model of the robot and solved it. This paper classified the quadruped gaits into three kinds: acute angle gait, obtuse angle gait and right angle gait, and point out that the acute angle gait will get the best stability, to verify it, researched two representative stair climbing gaits: rectangle gait correspond to right angle gait, and parallelogram gait correspond to acute angle gait; contrasted its performance. Gait planning and simulation is well done. By detailed data comparison, get a conclusion that the parallelogram gait is more stable, more efficient and smoother than the rectangle gait.