A Practical Method to Jump over Obstacles for Quadruped Robots

摘要

Quadruped robots utilize dexterous legs to avoid obstacles and traverse complex terrains, which are superior to wheel robots. It is found that lately enormous attention is paid to regular gaits in previous works. However, while quadruped robots encounter larger obstacles or higher steps, the robots are unable to pass barriers by using regular gaits. We research herein that quadruped robots jump forward from static standing as it seeks to pass obstacles. The expected trajectory, the legs' and whole body's kinematics are pointed out. Suitable dynamics models are chose to satisfy the demands of diverse movements. In order to verify the feasibility of the schemes, two simulation experiments are designed and carried out. The obtained results underline the performance, effectiveness and practicability of the approach.