ArticleSensors (Basel, Switzerland)2020
Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots.
Article in Sensors (Basel, Switzerland), 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Gait Optimization Control of Spinal Quadruped Robot Based on Deep Reinforcement Learning.Sensors (Basel, Switzerland) · 2026Article
- Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots.Sensors (Basel, Switzerland) · 2023Article
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Authors and funding
4 authors.
Funding
Abstract
Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.
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Registered trials
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