Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain

Li, Xingdong; Gao, Hewei; Li, Jian; Wang, Yangwei; Guo, Yanling

doi:10.1155/2019/3153195

Cited by 11 publications

(6 citation statements)

References 15 publications

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“…Shulong Zhang [39] uses the joint sensor and inertial measurement unit (IMU) to estimate the Li [34] designed a hierarchical control system for the quadruped robot. Firstly, a cost map is constructed by calculating the topographic features below the robot body and the cost of choosing the default foothold location.…”

Section: Walking Control Methods On Low Slopementioning

confidence: 99%

“…The experimental results show that ANYmal can successfully climb steps and obstacles (the height of obstacles is 38% of the length of legs). Li [34] designed a hierarchical control system for the quadruped robot. Firstly, a cost map is constructed by calculating the topographic features below the robot body and the cost of choosing the default foothold location.…”

Section: Hierarchical Control Planningmentioning

confidence: 99%

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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: Walking Control Methods On Low Slopementioning

confidence: 99%

Section: Hierarchical Control Planningmentioning

confidence: 99%

Survey of Quadruped Robots Coping Strategies in Complex Situations

Shao

Sun

et al. 2019

Electronics

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show abstract

“…Focchi et al proposed a planning/control framework for quasi-static walking of quadrupedal robots to tackle high slope terrains [ 26 ]. Li et al studied a hierarchically planning static gait for quadruped robot walking on rough terrain [ 27 ]. Wilshin et al investigated the longitudinal quasi-static stability predicts changes in dog gait on rough terrain [ 28 ].…”

Section: Introductionmentioning

confidence: 99%

Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Qian

Wang

et al. 2020

Sensors

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Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

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“…e quadruped robot has high nonlinear dynamic characteristics and can work in the unstructured environment, which is a hot research topic in the field of industrial robots. Good stability is the basis for the robot to perform real-time operations, and it is also a major and difficult point in the study of quadruped robots [1][2][3]. At present, scholars at home and abroad mostly adopt the design and optimization of the structure of the robot or improve the control algorithm to achieve the stability of the robot.…”

Section: Introductionmentioning

confidence: 99%

Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Qin

Luo

Chuang

et al. 2020

Mathematical Problems in Engineering

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Aiming at the problem that the stability of the quadruped robot is decreased as its leg momentum is too high, a stable balance adjustment structure of the quadruped robot based on the bionic lateral swing posture is proposed. First, the leg structure of the quadruped robot is improved and designed by using the mechanism of the lateral swing posture of the leg of the hoof animal. Then, the D-H method is used to construct the corresponding leg kinematics model and determine the generalized coordinates of the leg joints in the lateral swing posture. The torque expression of the quadruped robot when it is tilted is established. Based on the differential equation of momentum of the hip joint and its static stability analysis, the static stability conditions in the upright posture and the bionic lateral swing posture are given. Finally, the experimental simulation and comparative analysis of the upright posture and the lateral swing posture of the quadruped robot are proposed by using the Adams virtual prototype technology. The simulation results show that as the angle of lateral swing increases, the peak value of the positive flip torque of the quadruped robot body increases accordingly, while the degree of tilt decreases accordingly, which shows that the bionic lateral swing posture of the quadruped robot has higher static stability than the traditional upright posture. This research provides a technical reference for the design and optimization of the offline continuous gait of the robot and the improvement of stability.

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Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain

Cited by 11 publications

References 15 publications

Survey of Quadruped Robots Coping Strategies in Complex Situations

Survey of Quadruped Robots Coping Strategies in Complex Situations

Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

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