This paper presents an algorithm for planning the foothold positions of quadruped robots on irregular terrain. The input to the algorithm is the robot kinematics, the terrain geometry, a required motion path, as well as initial posture. Our goal is to develop general algorithm that navigate quadruped robots quasi-statically over rough terrain, using an APF (Artificial Potential Field) and graph searching. The algorithm is planning a sequence set of footholds that navigates the robot along the required path with controllable motion characteristics. Simulations results demonstrate the algorithm in a planner environment.

This paper presents the design of a novel quadruped robot. The proposed design is characterized by a simple, modular design, and easy interfacing capabilities. The robot is built mostly from off-the-shelf components. The design includes four 3-DOF legs, the robot body and its electronics. The proposed robot is able to traverse rough terrain while carrying additional payloads. Such payloads can include both sensors and computational hardware. We present the robot design, the control system, and the forward and inverse kinematics of the robot, as well as experiments that are compared with simulation results.