Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain. (2nd May 2019)

• Record Type: Journal Article
• Authors: Li, Xingdong; Gao, Hewei; Li, Jian; Wang, Yangwei; Guo, Yanling
• Other Names: Pennock Gordon R. Academic Editor.
• Is Part Of: Journal of robotics. Volume 2019(2019)
• Publication Date: 2019-05-02
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2019/3153195
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : Quadruped robot has great potential to walk on rough terrain, in which static gait is preferred. A hierarchical structure based controlling algorithm is proposed in this paper, in which trajectory of robot center is searched, and then static gaits are generated along such trajectory. Firstly, cost map is constructed by computing terrain features under robot body and cost of selecting footholds at default positions, and then the trajectory of robot center in 2D space is searched using heuristic A⁎ algorithm. Secondly, robot state is defined from foothold and robot pose, and then state series are searched recursively along the trajectory of robot center to generate static gaits, where a tree-like structure is used to store such states. Lastly, a classical model for quadruped robot is designed, and then the controlling algorithm proposed in the paper is demonstrated on such robot model for both structured terrain and complex unstructured terrain in a simulation environment.