Gait planning and simulation of quadruped robot climbing one-step stair

摘要

A quadruped robot should not only move on the flat road, but also meet other road conditions, and the gait planning and simulation of a quadruped robot climbing one-step stair were performed in the paper. The 3D model of the quadruped robot was constructed, the kinematics of the robot was analyzed, the gait of robot climbing one-step stair was planned, and the joint simulation based on Matlab/Simulink and ADAMS was performed. The real time feedback of the robot center of mass was used in the gait planning to increase the stability during the process the robot climbing one-step stair, and the position of the robot center of mass could be adjusted based on the feedback. To prevent the collision of the moving foot with the stair and the large contact force at the moment of the moving foot landing, a major arc trajectory of the moving foot was planned. The joint simulation showed that if the planned gait and the major arc trajectory were employed, the quadruped robot could climb one-step stair and the trajectory deviation of the entire robot center of mass was small. The research in the paper provides the theory accumulation for the future physical robot prototype.