Title :
Quadruped robot gait planning with stair environment constraints
Author :
Wang Zhanhao ; Huang Dan ; Li Ning ; Li Shaoyuan
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
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.
Keywords :
gait analysis; mobile robots; path planning; Matlab; RecurDyn simulation; quadruped robot gait planning; robot stair traversing feasibility; stair environment constraints; stair-aimed-SSG; static stable gait; Foot; Joints; Legged locomotion; Periodic structures; Planning; Trajectory; Quadruped Robot; Stair Environment Constraints; Stair-Aimed-SSG;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896441
