Development of the Gait Planning for Stability Movement on Quadruped Robot

摘要

Legged robot has an increasing attention from researchers in this recent year in the form of humanoid or animaloid robot. One of the animaloid robot type is quadruped. this paper will discuss about crawling gait planning that will be proposed on a Quadruped robot. This gait is expected to be able to maintain the balance of the robot pitch and roll angle movement when walking. The trajectory planning used in this case is linear translation and sinusoidal shaped gait trajectory. In this study, there are no obstacles and just walk on a flat terrain. This study focuses on the gait trajectory generation and timing adjustment to minimize the rolling and pitching movement of the robot while walking. This study will not only show the simulation, but also the implementation results of the crawling-gait planning to the robot.