Stair Climbing in a Quadruped Robot

Abstract

This paper reports the algorithm of trajectory planning and the strategy of four-leg coordination for quasi-static stair climbing in a quadruped robot. This development is based on the geometrical interactions between robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on the robot's locomotion stability is also included. Finally, simulation and experimental testing were executed to evaluate the performance of the algorithm.

Quadruped robot gait planning with stair environment constraints

“…The only relative results are not universal, and can only be applied to specific conditions. For example, the robot stair climbing feasibility analysis by Shen-Chiang Chen [5] , etc. is constrained to the no-telescopic-upright single leg joint structure and the corresponding body-flip gait.…”

“…constraints [5] including robot gait planning constraints, robot structure design constraints and stair size design constraints, as well as robot stair descent feasibility analysis are discussed, thus the empirical relationship between environment, structure, gait and stair descent feasibility etc. is established.…”

A Dynamic Balancing Approach for a Quadruped Robot Supported by Diagonal Legs

“…In addition, Papadopoulos [2] has proposed force-angle stability, which included the effect of outer forces exerted on the robot, while Vukobratovic [3] proposed the concept of the ZMP (zero-moment point): a method that considers the effect of inertia force, giving a criterion that is widely used in biped robots. Much work has been done on the control of quadruped robots [4][5][6][7][8][9][10][11][12][13]. However, the control approaches and criteria mentioned above can only be used when the robot possesses a support polygon, formed either by several supporting legs or by large feet; thus, larger distances between legs and larger feet are often preferred so as to obtain a larger stability margin.…”