LI Jun, MIAO Xin-cong, LIU An. Planning on Bionic Walking Gait of Quadruped Robot over Rough Terrain[J]. International Journal of Plant Engineering and Management, 2013, 18(1): 20-29

Planning on Bionic Walking Gait of Quadruped Robot over Rough Terrain
LI Jun, MIAO Xin-cong, LIU An
School of Mechanical Engineering,Northwestern Polytechnical University,Xi'an 710073,P. R. China
A quadruped robot is more adjustable to a complex terrain than a wheeled or caterpillar robot to realize the continuous adjustable motions characterized by submissiveness and low energy consumption in basic control of the quadruped robot over rough terrain. This paper presents a static walking mode of "altitude hold",which means to keep absolute altitude by controlling limbs adjustably on the basis of which biokinetics studies have shown that quadrupeds can move with almost the same body altitude over rough terrains characterized by a nearly horizontal relief. The gait design specifies several characteristic states of stance phase and swing phase for a quadruped robot and controls the phase sequence and phase of four legs through change of characteristic states. Furthermore,we design a robot control system to generate adjustable gaits and control the coordinative movement of robot joints. This planning method is tested through ADAMS and MATLAB interactive co-simulation; the quadruped robot which has 8 degrees of freedom (8-DOF) is used to simulate the motion over a terrain characterized by randomly arranged humps. The results show that this method can make the quadruped robot capable to walk over certain rough terrain.
Key words:    quadruped robot    walking gait    rough terrain    bionic   
Received: 2013-01-26     Revised:
Funds: This paper is supported by the National High Technology Research and Development Program of China (863Program) under Grant No.2011AA041002
Corresponding author:     Email:
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