Posture Adjustment for Quadruped Robot Trotting on a Slope

摘要：

The ingenious design and the coordinated movement among different legs make the legged robots have excellent adaptability on complex terrains, which is an advantage that wheeled and track vehicles do not have.Slope is one of the most basic natural terrains.Unlike the flat terrain, the possibility of feet slipping increases when the quadruped robots walk on a steep slope, whereupon the motion stability decreases, which makes it more difficult to calculate the toes landing location, generate the leg joints control signals, and control the robots posture.In the natural environment, animals achieve better motion stability and lower energy cost while walking on a slope by adjusting motion posture.This motivates researchers to work on the robots posture-adjustment.

关键词： Quadruped robot Slope movement Posture adjustment Trot

作者: Yan Jia

作者单位: Beijing Institute of Technology,China

会议类型: 国际会议

会议名称: The 17th International Conference on Geometry and Graphics(ICGG2016)(第17届几何与图学国际会议)

会议地点: 北京

会议语种:英文

页码: 386-387

在线出版日期: 2016-08-04（万方平台首次上网日期，不代表论文的发表时间）