A turning gait generation approach for quadruped robot based on trotting gait

摘要

This paper proposes a turning gait generation method for the quadruped robot for improving the high mobility and fast response to the complex terrain environment based on the basic trotting gait. Because it is difficult to implement perfectly the robot movement by means of the kinematics, therefore, in this scheme the geometrical approach is used to search the moving trajectory of the support foot for driving the movement of the COG of body of the quadruped robot along the turning circle defined by the turning radius in the turning gait. The proposed method is deduced based on the coordinate definition of the hip positon relative to the body coordinate system, which can improve the control precision in the locomotion of the quadruped robot. Based on the robot model constructed by the robot simulator Webots and the positon control method, the validity and efficiency of the proposed approach is verified in the computer simulations.