Abstract
Quadruped robot has gained considerable interests since its wide applications in both military and entertainment scenarios. On the control and gait planning of quadruped robots, walking stability is the fundamental problem in most scenarios. In this paper, we proposed a gait phase optimization method on the swing foot of quadruped robots in walking gait. In the proposed gait optimization method, Lift-up and Touch-down phases are added in gait planning of swing foot, which aiming to improve the stability in walking phases. Finally we validate the proposed method on a quadruped robot, and experimental results indicate that the proposed gait phase optimization method has the ability to improve the stability of the quadruped robot in walking gait.
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Acknowledgment
This work is supported by the National Natural Science Foundation of China (NSFC) under grant No. 61603078 and No. U1613223, and is also supported by Fundamental Research Funds for the Central Universities at University of Electronic Science and Technology of China (UESTC) under grant No. ZYGX2015KYQD044.
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Wu, G., Huang, R., Hao, J., Cheng, H., Wang, S. (2019). Gait Phase Optimization of Swing Foot for a Quadruped Robot. In: Sun, F., Liu, H., Hu, D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2018. Communications in Computer and Information Science, vol 1005. Springer, Singapore. https://doi.org/10.1007/978-981-13-7983-3_36
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DOI: https://doi.org/10.1007/978-981-13-7983-3_36
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