Journal of Control Theory and Applications

, 7:207

Gait planning and intelligent control for a quadruped robot


  • Baoping Wang
    • Department of Mechanical and Electronic EngineeringGuangdong Baiyun University
  • Renxi Hu
    • Department of Basic CoursesOrdnance Engineering College
  • Xiaodong Zhang
    • Department of Mechanical and Electronic EngineeringGuangdong Baiyun University
  • Chuangfeng Huai
    • School of Mechanical and Electronic Control EngineeringBeijing Jiaotong University

DOI: 10.1007/s11768-009-7252-x

Cite this article as:
Wang, B., Hu, R., Zhang, X. et al. J. Control Theory Appl. (2009) 7: 207. doi:10.1007/s11768-009-7252-x


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.


Structural symmetryQuadruped robotGait planningIntelligent controlVirtual model

Copyright information

© Editorial Board of Control Theory and Applications, South China University of Technology and Springer-Verlag GmbH 2009