Stair climbing in a quadruped robot
Journal
International Journal of Automation and Smart Technology
Journal Volume
2
Journal Issue
1
Pages
11-20
Date Issued
2012
Author(s)
Abstract
This paper reports the algorithm of trajectory planning and the strategy of four-leg coordination for quasi-static stair climbing in a quadruped robot. This development is based on the geometrical interactions between robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on the robot��s locomotion stability is also included. Finally, simulation and experimental testing were executed to evaluate the performance of the algorithm.
SDGs
Type
journal article