Quadruped robot gait planning with stair environment constraints

Abstract

This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation.