A study on traversability of quadruped robot in rough terrain

摘要

In this work, a study on improving traversability of a quadruped robot in a 3D rough terrain is presented. The interaction between the robot and the terrain is analyzed. The analysis shows that the traversability of the robot can be significantly improved by carefully considering the position and orientation of the robot's body in each step. The effectiveness of the proposed algorithm is verified in both simulation and experiment.