Stable walking of quadruped robot on unknown rough terrain

Yu Dong He; Jun Zheng Wang; Xian Feng Ke; Shou Kun Wang

doi:10.15918/j.jbit1004-0579.201625.0404

Stable walking of quadruped robot on unknown rough terrain

Yu Dong He^*, Jun Zheng Wang, Xian Feng Ke, Shou Kun Wang

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity (COG) height is presented. Simulations demonstrate the effectiveness of the proposed method and the improvement of the adaptation of quadruped robots on rough terrain.

Original language	English
Pages (from-to)	463-472
Number of pages	10
Journal	Journal of Beijing Institute of Technology (English Edition)
Volume	25
Issue number	4
DOIs	https://doi.org/10.15918/j.jbit1004-0579.201625.0404
Publication status	Published - 1 Dec 2016

Keywords

Body center of gravity (COG)
Body posture
Quadruped robot
Unknown rough terrain
Walking gait

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10.15918/j.jbit1004-0579.201625.0404

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title = "Stable walking of quadruped robot on unknown rough terrain",

abstract = "Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity (COG) height is presented. Simulations demonstrate the effectiveness of the proposed method and the improvement of the adaptation of quadruped robots on rough terrain.",

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author = "He, {Yu Dong} and Wang, {Jun Zheng} and Ke, {Xian Feng} and Wang, {Shou Kun}",

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AU - He, Yu Dong

AU - Wang, Jun Zheng

AU - Ke, Xian Feng

AU - Wang, Shou Kun

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N2 - Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity (COG) height is presented. Simulations demonstrate the effectiveness of the proposed method and the improvement of the adaptation of quadruped robots on rough terrain.

AB - Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity (COG) height is presented. Simulations demonstrate the effectiveness of the proposed method and the improvement of the adaptation of quadruped robots on rough terrain.

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KW - Body posture

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Stable walking of quadruped robot on unknown rough terrain

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