Research On Quadruped Robot Stair Traversing Static Stable Gait Planning

Quadruped robot is widely used to replace people by performing missions in various rough terrain. In related research, one of the most important issues is how to design and plan a stable and effective gait specifically in order to make it feasible for robot to traverse the corresponding terrain.Taking the process of quadruped robot stair traversing as an example, we researched on the problem of corresponding static stable gait planning in this paper. First, we defined the quadruped robot stair traversing gait planning problem and established the corresponding solution. Next, by analysis and summary of quadruped robot stair traversing process, we divided it by three stages of “transition incoming, cyclic traversing and transition leaving”, and chose two bionic stair traversing poses of body keeps upright and body reset periodically, and also designed two stair traversing single leg swing trajectories of robot single leg stride and robot body center of gravity adjust. Again, aiming at the phenomenon of quadruped robot single leg motion space and static stable margin loss during the process of stair descent, we raised stair traversing feasibility problem, and thus supplied the effective solution by thorough analysis of single leg structure constraints and robot body static stability constraints, which was used to guide the following stair traversing gait planning and analyzing. At last, based on the previous definition and solution for quadruped robot stair traversing static stable gait planning, we designed and planned the stair traversing gait depending on the bionic pose used, and verified its effectiveness and adaptation by simulation and analysis.