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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...
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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