Quadruped robot gait planning with stair environment constraints
WANG Zhanhao, HUANG Dan, LI Ning, LI Shaoyuan, 33rd Chinese Control Conference (CCC), Nanjing, July 2014, pp. 8583-8588.
Abstract
This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation. This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation. This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation.
How Multibody Dynamics Simulation Technology is Used
RecurDyn was used to validate the gait planning of a quadruped robot. RecurDyn simulations demonstrated the stability of the robot as it walked up and down stairs. RecurDyn simulations could test the range of stair heights that the quadruped robot would be able to navigate successfully.
