Trajectory Planning and Four Legs Coordination for Stair Climbing in a Quadruped Robot
Date Issued
2010
Date
2010
Author(s)
Ko, Chih-Chung
Abstract
We report on the general algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. Under such conditions, analysis of two different locomotion media is introduced in this thesis. First, we report on quadruped with straight legs. The detailed 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. Finally, the algorithm is evaluated in the simulation environment with curvature smoothening discussion and experimented under outdoor stair field. In addition, a brief study on the static stability of the robot while climbing as well as an investigation of posture adjustment due to stair geometrical variation is also reported. On the second part of thesis, we analyze algorithm for quadruped with semi-circle legs, and then verified in simulation. Due to difference in geometric shape, this causes a big distinct between semi-circle leg and straight leg in locomotion behavior. Through discussion in these two different locomotion media, the general case: straight leg and the advanced case: semi-circle leg separately, we can generalize almost all other cases with different D.O.F. and joint types, which confirms the generosity of trajectory planning for stair climbing in quadruped robots family in this thesis.
Subjects
quadruped
stair climbing
algorithm
trajectory planning
legs coordination
Type
thesis
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