Multi-constraint spatial coupling for the body joint quadruped robot and the CPG control method on rough terrain
Guozheng Song,
Qinglin Ai,
Hangsheng Tong
et al.
Abstract:Quadruped robots have frequently appeared in various situations, including wilderness rescue, planetary exploration, and nuclear power facility maintenance. The quadruped robot with an active body joint has better environmental adaptability than one without body joints. However, it is difficult to guarantee the stability of the body joint quadruped robot when walking on rough terrain. Given the above issues, this paper proposed a gait control method for the body joint quadruped robot based on multi-constraint … Show more
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