@inproceedings{d9591f26fc284837947442d244e233d9,
title = "Steady walking of wheel-quadrupled robot over unknown rough terrain based on basic static gait",
abstract = "Wheel-quadrupled combines individual benefits of wheeled robot and legged robot and has excellent adaption to terrain, which has become research highlights of robot fields these years. In this paper, the basic static walking pattern of robot is determined, and the attitude angles and the position of COG (center of gravity) are adjusted to enhance the stability and ability of robot to traverse the rough terrains. In order to simplify and establish model for rough terrain, we propose an estimation method of terrain based on the position of stance phase and the body attitude, as well as calculate the target attitude angle of the trunk in this paper. And then the smooth transition of foot-laying positions is guaranteed by planning the adjustment process. Finally, the simulation results illustrate that the proposed method is able to adapt robot to different types of unknown rough terrains.",
keywords = "attitude adjustment, basic static waling pattern, gait planning, unknown rough terrain, wheel-quadruped robot",
author = "Shoukun Wang and Fei Guo and Xiaolong Du",
note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",
year = "2017",
month = sep,
day = "7",
doi = "10.23919/ChiCC.2017.8028411",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6652--6657",
editor = "Tao Liu and Qianchuan Zhao",
booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",
address = "United States",
}