Discontinuous gait for statically stable stair climbing and descending of quadruped robot with horizontal body posture

摘要

For improving the functionality, a quadruped robot must have the capabilities to manoeuvre over different terrain conditions like slope & stair climbing, obstacle avoidance, uneven & rough terrain, etc. In all such conditions, the primary requirement for a robot is to be stable while walking. In the present work, an attempt is made to develop a gait scheme of quadruped robots for statically stable straightforward stair climbing and descending, with horizontal posture. The use of a discontinuous type of gait in the proposed scheme makes it more stable and easier to implement. The proposed scheme has been simulated and its stability is validated.