Terrain estimation and strategy for quadruped robot body posture and COG adjustment

Yudong He, Junzheng Wang, Xianfeng Ke, Shoukun Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Quadruped robot has gained its popularity due to the adaptation ability of rough terrain. To improve the walking stability and balance of quadrupeds, separate static walking methods are discussed based on specific known terrains. For some unknown terrains, a uniform terrain model is established in this paper. A fuzzy logic based terrain estimation method is then proposed to estimate the terrain parameters. Based on the criterion of maximum working space, a body posture and center of gravity (COG) position adjusting strategy is proposed, and a method to adjust the posture and COG position is derived based on the kinematic analysis. Simulations show that the proposed methods can deal with different terrains and body posture and COG position can be tuned according to the terrain.

Original languageEnglish
Title of host publicationProceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5164-5169
Number of pages6
ISBN (Electronic)9781467397148
DOIs
Publication statusPublished - 3 Aug 2016
Event28th Chinese Control and Decision Conference, CCDC 2016 - Yinchuan, China
Duration: 28 May 201630 May 2016

Publication series

NameProceedings of the 28th Chinese Control and Decision Conference, CCDC 2016

Conference

Conference28th Chinese Control and Decision Conference, CCDC 2016
Country/TerritoryChina
CityYinchuan
Period28/05/1630/05/16

Keywords

  • Body Posture and COG adjustment
  • Quadruped Robots
  • Terrain Estimation

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