Walking Decision of Hydraulic Quadruped Robot in Complex Environment

摘要

To make the hydraulic quadruped robot walk through the complex unstructured environment, a whole-body motion planning algorithm is proposed. The layered motion planning algorithm is the main contribution of the algorithm. A bilateral time logic game between the hydraulic quadruped robot and external environment is built. The given task planning based on time logic is satisfied by a high-level walking decision strategy. Moreover, a low-level gait transition strategy is able to complete the generated command. The gait transition strategy is designed based on the Bezier curve, ADRC and the optimal objectives of minimum switching time. The gait of the Quadruped robot is chosen autonomously under complicated environment by the whole-body motion planning algorithm, which achieves high smoothness and stability of pitch angle. The effectiveness of gait transition strategy and walking decision strategy is confirmed by the dynamic simulation of hydraulic quadruped robot under complex environment.