A Bio-Inspired Implementation of Walking and Stair Climbing on a Quadruped Robot

摘要

In the recent years, development of biomimetic robots has gained great attention, however, much less research has been conducted in the field of stair climbing biomimetic robots. This paper reports algorithms for biologically inspired four-leg coordination for walking and quasi-static stair climbing in a quadruped robot. The algorithms are based on the geometrical interactions between the legs of the robot and the stairs. In this paper we have developed a quadruped robot capable of detecting, analyzing and climbing stairs of a fixed height with the help of Ultrasonic Distance Sensor to detect the stairs along with biomimetic walking. We have designed our algorithms based on the diagonal sequence walking pattern of four-legged creatures keeping in mind the passive and active stability factors of the robot while climbing the stairs. In our work we implement biomimetic rhythmic motion of animals as a way to control the robot walking system. Finally, simulation and experimental testing were executed to evaluate the performance of the algorithms.