, Volume 7, Issue 2, pp 207-211

Gait planning and intelligent control for a quadruped robot

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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.

This work was supported by the Science and Technology Innovation Fund for the Doctor.
Baoping WANG is a professor of Mechanical and Electronic Engineering at the Guangdong Baiyun University. His current research interests include mechanical design theory and intelligent control system.
Renxi HU received the Ph.D. degree from School of Mechanical and Vehicular Engineering from Beijing Institute of Technology, China, in 2008. He is a lecturer at the Department of Basic Courses. His current research interests include mechanical and electronic engineering and CAD/CAM/CAE.
Xiaodong ZHANG is a professor of Mechanical and Electronic Engineering at the Guangdong Baiyun University. His current research interests include mechanical and electronic engineering and control system.
Chuangfeng HUAI received the B.S. degree and is currently pursuing the Ph.D. degree at the School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing, China. His current research interests include robot design, dynamics of robot and robot control system.