An aperiodic straight motion planning method for a quadruped walking robot

Abstract

In even terrain, wave gait is the periodic gait having the optimal stability. In this paper, we focus on aperiodic forward straight motion having the lifting sequence of wave gait in order for quadruped to adapt to terrain and to have good moving capability. We investigated the condition of support pattern from which such gait motion can be generated. It is proved that from any support pattern satisfying the condition, it is always possible to transform the given support pattern to the support pattern of wave gait. An aperiodic gait planning method that adapt to terrain and maximize moving capability is proposed. A simulation result shows that the proposed method works well in rough terrain having forbidden areas. © 1995 Kluwer Academic Publishers.