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In order to improve the adaptation of quadruped robot for various terrains, the major problem is how to build up the smooth transition algorithm from trotting gait suitable for flat terrain to walking gait suitable for rugged terrain. Firstly, one gait cycle of trotting gait and walking gait are analyzed for finding out all the potential switch points and access points. Secondly, based on analysis...
As the walking speed of the discontinuous crawl gait of the quadruped robot is rather slow, an optimized method is proposed for improving the forward walking velocity. To ensure the walking stability, the adjustment process of the center of gravity (COG) of the robot is divided in two types, lateral movement and forward movement respectively. Based on the definition of the inner support polygon, the...
This paper proposes a turning gait generation method for the quadruped robot for improving the high mobility and fast response to the complex terrain environment based on the basic trotting gait. Because it is difficult to implement perfectly the robot movement by means of the kinematics, therefore, in this scheme the geometrical approach is used to search the moving trajectory of the support foot...
Based on the basic discontinuous craw gait, this paper proposes an adjustment method of the center of gravity (COG) of the body for the quadruped robot. The method divides the COG adjustment into two parts based on the swing legs of the front and the hind at the next time in one period circle of the gait planning. Before the swing period of the front legs, the COG of the body of the quadruped robot...
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