The movement of modular walking robot MERO in the obstacles' area

摘要

In the area of level-walking gaits, gaits can be categorized into two types according to the terrain condition : gaits on perfectly smooth terrain and gaits on terrain which contains forbidden areas (areas which are not suitable for foot placement). The main characteristic of the modular walking robots is that they are able to move away on not arranged, horizontal and rough terrain. The performance of walking robots is closely related to the adopted gait. The movement of the walking robots can be divided in two modes: condition of the static stability; condition of the dynamic stability. During walking, the legs move according to the gait and two forelegs are adjusted to avoid forbidden areas. Different methods of leg adjustments and body adjustments are integrated into the strategy. In the work are analyzed the possibilities of determination of the limit conditions for the stable displacement of the walking robots. In the work are analyzed the possibilities of determination of the limit conditions for the stable displacement of the quadrupedal walking robots. Finally, this strategy is verified by using computer graphics simulations.