A combined COG adjustment approach of the crawl gait for quadruped robot

摘要

Based on the basic discontinuous craw gait, this paper proposes an adjustment method of the center of gravity (COG) of the body for the quadruped robot. The method divides the COG adjustment into two parts based on the swing legs of the front and the hind at the next time in one period circle of the gait planning. Before the swing period of the front legs, the COG of the body of the quadruped robot moves to the stability point of the lateral direction based on the modified LSM stability criterion. And the COG moves to the stability point of the front direction based on the SSM stability criterion before the swing period of the hind legs. Based on the proposed method, the quadruped robot can avoid the COG retreating in the movement period of the body, increase the locomotion speed and reduce the energy consumption. The simulation results of the experiments based on the robot simulation software-Webots show the validity and the limitation of the proposed COG adjustment method for the quadruped robot.