Article

Journal of Control Theory and Applications

, Volume 7, Issue 2, pp 207-211

Gait planning and intelligent control for a quadruped robot

  • Baoping WangAffiliated withDepartment of Mechanical and Electronic Engineering, Guangdong Baiyun University
  • , Renxi HuAffiliated withDepartment of Basic Courses, Ordnance Engineering College
  • , Xiaodong ZhangAffiliated withDepartment of Mechanical and Electronic Engineering, Guangdong Baiyun University
  • , Chuangfeng HuaiAffiliated withSchool of Mechanical and Electronic Control Engineering, Beijing Jiaotong University

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Abstract

We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot’s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait’s efficiency and system’s stability in adapting to an uncertain terrain.

Keywords

Structural symmetry Quadruped robot Gait planning Intelligent control Virtual model