期刊
SENSORS
卷 20, 期 17, 页码 -出版社
MDPI
DOI: 10.3390/s20174911
关键词
high terrain adaptability; quadruped robots; static gait; stability; rough terrains
资金
- Fundamental Research Funds for the Central Universities [2019JBM051]
- Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention Open Foundation for Research [RRC201701]
- Beijing Natural Science Foundation [3204051]
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据