Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain

Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain

To enable quadruped robot to walk through unknown rough terrains without any machine vision system, a continuous static gait planning method is proposed in this paper. A algorithm for on-line terrain complexity evaluation according to touchdown times of swing feet is presented to make quadruped robo...

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Bibliographic Details
Main Authors: Shuaishuai Zhang, Ming Liu, Yanfang Yin, Xuewen Rong, Yibin Li, Zisen Hua
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Quadruped robot
static gait planning
estimation of terrain complexity
foot swing trajectory
Online Access:https://ieeexplore.ieee.org/document/8928610/

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