Abstract
Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.
| Original language | English |
|---|---|
| Article number | 4911 |
| Pages (from-to) | 1-26 |
| Number of pages | 26 |
| Journal | Sensors |
| Volume | 20 |
| Issue number | 17 |
| DOIs | |
| Publication status | Published - 1 Sept 2020 |
Keywords
- High terrain adaptability
- Quadruped robots
- Rough terrains
- Stability
- Static gait