Quadruped robots have the superiority to locomote on complicated terrains. However, in unknown environments, adaptive locomotion is still a great challenge. Considering the terrains including convex obstacles and forbidden areas, a novel motion planning algorithm is investigated for path planning, gait generation, gait transition and foothold searching. According to the terrain maps built by on-board stereo vision, the quadruped robot chooses the suitable gaits independently. Walk gait is selected on unstructured road segments for more stability while trot gait is employed on flat ground for higher speed. The motion trajectories are performed in the low level compliant control based on the kinematics and the couple dynamics which depends on stance phase and swing phase. The emphases of our inverse dynamics model are the analyses of the couple influences between four legs and the transition between different motion stages. The control architecture is applied on a real quadruped robot, and the experiment results demonstrate the availability of the system.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.