Quadruped robot crawl gait planning based on DST

Quadruped robots are often in the state of dynamically stable. But in certain extreme circumstances, static stability is required in the locomotion of quadruped robots. Based on the DST(Double-Support Triangle) theory, this paper designed two kinds of COG(Center of Gravity) and swing leg tip trajectories with crawl gait, and proposed an optimized crawl gait using ZMP(Zero-Moment Point) stability criterion. The design and crawl gait planning ensures the static stability in quadruped robots´ locomotion, and it´s validated in Matlab and RecurDyn environment.