scholarly journals Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 177651-177660 ◽  
Author(s):  
Shuaishuai Zhang ◽  
Ming Liu ◽  
Yanfang Yin ◽  
Xuewen Rong ◽  
Yibin Li ◽  
...  
Keyword(s):  
Quadruped Robot ◽  
Planning Method ◽  
Rough Terrain ◽  
Gait Planning

A FREE GAIT PLANNING METHOD BASED ON THE FOOTHOLD SEARCH STRATEGY FOR QUADRUPED ROBOT

2015 ◽  
Author(s):  
SHUAISHUAI ZHANG ◽  
YIBIN LI ◽  
RUI SONG ◽  
XUEWEN RONG ◽  
BIN LI
Keyword(s):  
Search Strategy ◽  
Quadruped Robot ◽  
Planning Method ◽  
Gait Planning

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

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.

scholarly journals A Gait Planning Method for Biped Heel-and-toe Robot

2012 ◽  
Vol 16 ◽  
pp. 1799-1805
Author(s):  
Qiushi Zhang ◽  
Dandan Chen ◽  
Hongmei Li
Keyword(s):  
Planning Method ◽  
Gait Planning
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