吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (4): 1287-1296.doi: 10.13229/j.cnki.jdxbgxb201604039

• Orginal Article • Previous Articles     Next Articles

Static gait planning method for quadruped robots on rough terrains

ZHANG Shuai-shuai1, RONG Xue-wen1, LI Yi-bin1, LI Bin2   

  1. 1.School of Control Science and Engineering, Shandong University, Ji'nan 250061, China;
    2.School of Science, Qilu University of Technology, Ji'nan 250353, China
  • Received:2014-12-11 Online:2016-07-20 Published:2016-07-20

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Abstract: In order to improve the ability of quadruped robots to cross rough terrains, a static gait planning method is proposed. This method consists of three parts: the posture adjustment planning, the body trajectory planning and the foot trajectory planning. To improve the adaptability of the quadruped robot to the terrain through the posture adjustment, a method to calculate the pitching angle is proposed. The robot can obtain enough stability margin through a body sway motion, and the continuity of movement during the whole walking process can be guaranteed by using a quintic body trajectory. In addition, a box shape foot trajectory planning method is given to overcome the situation that the robot can not obtain the information of the terrain. Using the proposed static gait planning method, the robot can autonomously navigate through unknown irregular terrains with sufficient stability margin in real time.

Key words: automatic control technology, quadruped robot, static gait planning, body moving trajectory, foot trajectory

CLC Number: 

  • TP242.6
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