Quadruped free gait generation for straight-line and circular trajectories

Shaoping Bai , K.H. Low , Teresa Zielińska


A method of free gait generation is proposed utilizing the primary/secondary gait for both straight line and circular body trajectories. The primary gait is a fixed sequence of leg transfers with modified leg-ends kinematic limits according to the presence of obstacles, while the secondary gait is a flexible gait which is generated to adjust the leg-end position. The primary gait is generated considering the following four constraints: stability constraint, kinematic constraint, sequential constraint and neighboring constraints. A generalized reference coordinate (GRC) system is introduced to describe the vehicle motion. Using the GRC system, all constraints and obstacle influences are expressed by only one set of equations despite the difference of motion mode. The efficiency of free gait generation is improved with the proposed method, and the trajectory of the vehicle body can be designed more naturally. Simulation results are given to demonstrate the efficiency of the proposed methodology.
Author Shaoping Bai
Shaoping Bai,,
, K.H. Low
K.H. Low,,
, Teresa Zielińska ITLMS
Teresa Zielińska,,
- The Institute of Aeronautics and Applied Mechanics
Journal seriesAdvanced Robotics, ISSN 0169-1864
Issue year1998
URL http://www.tandfonline.com/doi/abs/10.1163/156855399X00946
Score (nominal)20
Publication indicators WoS Impact Factor: 2006 = 0.318 (2) - 2007=0.586 (5)
Citation count*27 (2018-06-13)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.