Reliable gait planning for a quadruped walking robot

摘要

Presents a method for designing reliable gaits for structural symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. At the joint control level of the proposed gait control, sample-based interpolation makes the joint trajectory tractable for the small motor and controller of the miniaturized robot. Centroid body sway ensures walking stability to achieve reliability of the proposed gaits at the motion planning level. Simulation results are presented to show the system's efficiency and stability in adapting to an uncertain terrain.