Abstract
In this paper, a free gait algorithm to improve adaptability of a quadruped robot in rough terrain is presented. The motion of the robot is composed of two discrete phases: adjusting posture of the robot and swinging a dedicated leg. Before swinging a leg, the posture of the robot is optimized to maximize the number of choices for foot placement of the next swing leg while maintaining stability of the robot. With more choices for choosing next suitable foothold, the robot can cope with even rough environment. Besides, a strategy for searching suitable foothold of the quadruped robot in rough environment is conducted. The feasibility of the proposed algorithms is validated via simulations.
| Original language | English |
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| Pages | 319-322 |
| Number of pages | 4 |
| State | Published - 2008 |
| Event | 39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of Duration: 15 Oct 2008 → 17 Oct 2008 |
Conference
| Conference | 39th International Symposium on Robotics, ISR 2008 |
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| Country/Territory | Korea, Republic of |
| City | Seoul |
| Period | 15/10/08 → 17/10/08 |