[1]MA Hongwen,WANG Liquan,ZHONG Zhi,et al.A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain[J].CAAI Transactions on Intelligent Systems,2011,6(5):464-469.
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A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 6 Number of periods: 2011 5 Page number: 464-469 Column: 学术论文—人工智能基础 Public date: 2011-10-30
Title:
A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain
Author(s):
MA Hongwen;  WANG Liquan;  ZHONG Zhi;  YAO Shaoming
College of Mechanical and Electrical, Harbin Engineering University， Harbin 150001, China
Keywords:
legged robot;  preview control;  desired landing points;  planner quadruped robot
CLC:
TP242.6
DOI:
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Abstract:
It is necessary for legged robots to walk stably and smoothly on rough terrain. In this paper, a desired landing points (DLP) walking method based on preview control was proposed in which an offline foot motion trace and an online modification of the trace were used to enable the robot to walk on rough terrain. The online modification was composed of speed modification, foot liftingoff height modification, step length modification, and identification and avoidance of unsuitable landing terrain. A planner quadruped robot simulator was used to apply the DLP walking method. The correctness of the method was proven by a series of simulations using the Adams and Simulink.
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