A novel control strategy for quadruped robot walking over irregular terrain

Abstract

Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified.