Trajectory planning and four-leg coordination for stair climbing in a quadruped robot
Journal
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems
Pages
5335-5340
Date Issued
2010
Author(s)
Abstract
We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. The development is based on the geometrical interactions between the 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 stability of the robot is also reported. Finally, simulation and experimental test are also executed to evaluate the performance of the algorithm.
SDGs
Type
conference paper