Crawling Gait Planning for a Quadruped Robot with High Payload Walking on Irregular Terrain
Nan Hu, Shaoyuan Li, Dan Huang, Feng Gao, 19th IFAC World Congress, Cape Town, 2014, Volume 19, Part 1, pp 2153-2158.
Abstract
Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a hybrid Force-Posture Feedback Compensation (FPFC) Controller for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably on irregular terrain, the proposed controller utilizes the feedback signals detected by force sensor and gyroscope to adjust every leg of the robot in real-time. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of crawling gait on irregular terrain have been performed. The results have verified that the proposed methods have better stability and performance for walking on the irregular terrain.This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation. This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation.
How Multibody Dynamics Simulation Technology is Used
RecurDyn is used to verify the design of a Force-Posture Feedback Compensation Controller for a quadruped robot. The design could be verified in RecurDyn before making a physical prototype. A new control method was designed which was more stable while walking on irregular terrain.
