An optimized discontinuous crawl gait for quadruped robot

Abstract

As the walking speed of the discontinuous crawl gait of the quadruped robot is rather slow, an optimized method is proposed for improving the forward walking velocity. To ensure the walking stability, the adjustment process of the center of gravity (COG) of the robot is divided in two types, lateral movement and forward movement respectively. Based on the definition of the inner support polygon, the former searches the desired stable COG position with the minimal moving distance in the lateral direction and the latter searches the maximal moving distance in the front direction respectively. The optimized method of the COG can improve the forward movement velocity with a stable locomotion and the proposed method is simulated and validated based on the simulation model constructed in the robot simulator Webots.