JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2018, Vol. 48 ›› Issue (4): 42-49.doi: 10.6040/j.issn.1672-3961.0.2017.364

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Smooth walk-to-trot gait transition algorithm for quadruped robot

XIN Yaxian1, LI Yibin1, LI Bin2*, RONG Xuewen1   

  1. 1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China;
    2. School of Science, Qilu University of Technology(Shandong Academy of Sciences), Jinan 250353, Shandong, China
  • Received:2017-07-22 Online:2018-08-20 Published:2017-07-22

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Abstract: In order to improve the adaptability of quadruped robot for various terrains, different cases that could occur when robot changed its gaits from walk to trot were analyzed and the optimal transition algorithms which could let gait transition more smooth and waste least time when robot kept stability were proposed. In order to ensure the smoothness of transition sequence, the speed formula of time was given to keep the center of gravity constant acceleration. An algorithm named modified wide stability margin method(MWSM)was proposed to offset the stand back influenced by inertial force and caused by the acceleration through adjust the relative position of the trunk and four feet. The model of quadruped robot was constructed based on the robot simulator Webots, and simulation results showed the validity and effectiveness of the algorithm. The approach could be applied in six points of one static walk circle and switched to trot smoothly and steadily.

Key words: quadruped robot, static walk, trot, smooth gait transition

CLC Number: 

  • TP242
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