Study on the control algorithm of the translational crawl for a quadruped robot

摘要

The concept called the translational crawl of the quadruped robot is defined, a periodic gait of the translational crawl is described for the TITAN-VIII robot in a known environment. According to its simplified kinematic process, the robot can implement omnidirectional walking in a known environment by real-time control of the gait. The control algorithm of the gait is presented in detail. The effectiveness of the proposed approach is illustrated by giving simulation results.