Steady Crawl Gait Generation Algorithm for Quadruped Robots

摘要

The capability of stable walking on irregular terrain is the primary advantage of legged robots over wheeled mobile robots. However, the traditional foothold selection-based gait generation algorithms are not suitable at some points for blind robots which cannot obtain the exact terrain information. A velocity-based gait generation algorithm with real-time adaptation rules which are necessary for steady walking is suggested. Particularly, we have developed a steady crawl gait with duty factor β = 0.75. The main feature of the suggested algorithm is that it is not based on foothold selection and it can be used for the walking of blind robots on more realistic irregular terrain. The adaptation rules are the translational velocity modification to satisfy the steady gait requirement and the swing period modification to avoid the kinematic limitation. The suggested gait generation algorithm has been implemented in a simple quadruped robot that has a total of eight actuated joints on the legs. Using PD controllers for each actuated joint for the trajectory following and the adaptation algorithm of gait parameters, the steady periodic crawl gait on irregular terrain has been demonstrated.