A Free Gait Planning Method Based on the Foothold Search Strategy for Quadruped Robot

Zhang, Shuaishuai; Li, Yibin; Song, Rui; Rong, Xuewen; Li, Bin

doi:10.1142/9789814725248_0057

Cited by 1 publication

(2 citation statements)

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“…Zhang [28,29] proposed a continuous free gait for crossing the challenging terrain, which included the forbidden zone. Each gait cycle is divided into three phases: motion planning phase (MPP), body sway phase (BSP), and foot swing phase (FSP).…”

Section: Free Gait Planningmentioning

confidence: 99%

“…The experimental success rate of the stepping-stone was 90%, which proves that the method can improve the operability of the system in practical environment applications. Zhang [28,29] proposed a continuous free gait for crossing the challenging terrain, which included the forbidden zone. Each gait cycle is divided into three phases: motion planning phase (MPP), body sway phase (BSP), and foot swing phase (FSP).…”

Section: Hierarchical Control Planningmentioning

confidence: 99%

See 1 more Smart Citation

Survey of Quadruped Robots Coping Strategies in Complex Situations

Shao

Sun

et al. 2019

Electronics

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As an important branch of mobile robots, quadruped robots have high flexibility, high adaptability, and high dynamics, which provide excellent maneuverability and environmental adaptability. In the past ten years, researchers have done a lot of research on the ability of the quadruped robot to cope with the complex environment and published many results in order to make the working environment of the quadruped robot closer to reality. This paper collected these research results and divided these literatures into three categories according to different situations: crossing challenging terrain, walking on slope, and coping with interference, respectively, introducing representative methods. The purpose of this review is to summarize and analyze the previous research results and provide guidance for future research on quadruped robots in complex situations.

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Section: Free Gait Planningmentioning

confidence: 99%

Section: Hierarchical Control Planningmentioning

confidence: 99%