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

Qian Hao1, Zhaoba Wang1, Junzheng Wang2

  • 1School of Information and Communication Engineering, North University of China, Taiyuan 030051, China.

Sensors (Basel, Switzerland)
|September 4, 2020
PubMed
Summary

This study introduces a stability-guaranteed static gait for quadruped robots, enhancing their ability to navigate challenging terrains. The research focuses on improving locomotion stability and adaptability for robots operating in complex environments.

Keywords:
high terrain adaptabilityquadruped robotsrough terrainsstabilitystatic gait

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Area of Science:

  • Robotics
  • Control Systems
  • Mechatronics

Background:

  • Locomotion stability is crucial for legged robots, especially quadruped robots, to perform tasks and navigate uneven terrains.
  • Existing static gaits for quadruped robots often lack sufficient stability margins or adaptability for complex environments.

Purpose of the Study:

  • To develop and validate a stability-guaranteed static gait for quadruped robots.
  • To enhance the terrain adaptability of quadruped robots for rough and uneven environments.
  • To improve the overall performance and robustness of quadruped locomotion.

Main Methods:

  • Investigation of three stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait.
  • Selection of intermittent gait 1 for its superior stability margin for further research.
  • Implementation of position/force-based impedance control for compliant robot behavior.
  • Development of an exploratory gait planning method with touch sensing and an attitude-position adjustment strategy with terrain estimation.

Main Results:

  • Intermittent gait 1 demonstrated the largest stability margin among the investigated static gaits.
  • Position/force-based impedance control enabled compliant behavior for quadruped robots on rough terrains.
  • The proposed gait planning and adjustment strategies significantly improved terrain adaptability.
  • Simulations validated the effectiveness of the proposed methods in enhancing stability and adaptability.

Conclusions:

  • The developed stability-guaranteed static gait, particularly intermittent gait 1, provides a robust foundation for quadruped robot locomotion.
  • The integration of impedance control and advanced gait planning strategies enhances quadruped robots' ability to adapt to and traverse challenging terrains.
  • This research contributes to the advancement of autonomous legged robot navigation in unstructured environments.