Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain
Joint Authors
Li, Xingdong
Gao, Hewei
Li, Jian
Wang, Yangwei
Guo, Yanling
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-05-02
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Quadruped robot has great potential to walk on rough terrain, in which static gait is preferred.
A hierarchical structure based controlling algorithm is proposed in this paper, in which trajectory of robot center is searched, and then static gaits are generated along such trajectory.
Firstly, cost map is constructed by computing terrain features under robot body and cost of selecting footholds at default positions, and then the trajectory of robot center in 2D space is searched using heuristic A⁎ algorithm.
Secondly, robot state is defined from foothold and robot pose, and then state series are searched recursively along the trajectory of robot center to generate static gaits, where a tree-like structure is used to store such states.
Lastly, a classical model for quadruped robot is designed, and then the controlling algorithm proposed in the paper is demonstrated on such robot model for both structured terrain and complex unstructured terrain in a simulation environment.
American Psychological Association (APA)
Li, Xingdong& Gao, Hewei& Li, Jian& Wang, Yangwei& Guo, Yanling. 2019. Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain. Journal of Robotics،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1186938
Modern Language Association (MLA)
Li, Xingdong…[et al.]. Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain. Journal of Robotics No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1186938
American Medical Association (AMA)
Li, Xingdong& Gao, Hewei& Li, Jian& Wang, Yangwei& Guo, Yanling. Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain. Journal of Robotics. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1186938
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186938