IngentaConnect Steady Crawl Gait Generation Algorithm for Quadruped Robots

Authors: Hwang, Heeseon¹; Youm, Youngil²

Source: Advanced Robotics, Volume 22, Numbers 13-14, 2008 , pp. 1539-1558(20)

Abstract:

The capability of stable walking on irregular terrain is the primary advantage of legged robots over wheeled mobile robots. However, the traditional foothold selection-based gait generation algorithms are not suitable at some points for blind robots which cannot obtain the exact terrain information. A velocity-based gait generation algorithm with real-time adaptation rules which are necessary for steady walking is suggested. Particularly, we have developed a steady crawl gait with duty factor β = 0.75. The main feature of the suggested algorithm is that it is not based on foothold selection and it can be used for the walking of blind robots on more realistic irregular terrain. The adaptation rules are the translational velocity modification to satisfy the steady gait requirement and the swing period modification to avoid the kinematic limitation. The suggested gait generation algorithm has been implemented in a simple quadruped robot that has a total of eight actuated joints on the legs. Using PD controllers for each actuated joint for the trajectory following and the adaptation algorithm of gait parameters, the steady periodic crawl gait on irregular terrain has been demonstrated.

Keywords: QUADRUPED ROBOT; CRAWL GAIT; IRREGULAR TERRAIN; GAIT PARAMETERS ADAPTATION; VELOCITY-BASED GAIT STABILITY

Document Type: Research article

DOI: 10.1163/156855308X360640

Affiliations: 1: Department of Mechanical Engineering, Pohang University of Science and Technology (Postech), Pohang, South Korea, Pohang Institute of Intelligent Robotics (PIRO), Pohang, South Korea;, Email: heeseon@postech.ac.kr 2: Department of Mechanical Engineering, Pohang University of Science and Technology (Postech), Pohang, South Korea, Pohang Institute of Intelligent Robotics (PIRO), Pohang, South Korea

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