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Novel method of gait switching in six-legged robot walking on continuous-nondifferentiable terrain by utilizing stability and interference criteria 被引量:2
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作者 MAO LiHeng TIAN Yuan +1 位作者 GAO Feng ZHAO Yue 《Science China(Technological Sciences)》 SCIE EI CAS CSCD 2020年第12期2527-2540,共14页
Continuous-nondifferentiable terrains are extremely challenging for the environment adaption of six-legged robots. Previous researches have focused on gait planning methods to improve inherent ability of legged robots... Continuous-nondifferentiable terrains are extremely challenging for the environment adaption of six-legged robots. Previous researches have focused on gait planning methods to improve inherent ability of legged robots to walk over moderate terrains.However,most six-legged robots utilize relatively monotonic gait so that they still cannot well adapt tough terrains. As a result,the current legged robots easily get stuck and fall when encountering continuous-nondifferentiable terrains,such as stairs.Therefore,a method of gait switching is proposed so that six-legged robots can flexibly generate multiple gaits to adapt complex terrains. This study investigated the relationship between six-legged robot gait topologies and physical constraints,such as robot stability and robot-terrain interference. The proposed gait switcher can generate 0-6,1-5,2-4 and 3-3 gaits,which is instructed by the stability and interference criteria. Simulations and experiments were performed on a novel six-legged robot Hexa-XIII that succeeded climbing stairs over 45°. The effectiveness of the gait switching method is validated by the experiment results. 展开更多
关键词 six-legged robot continuous-nondifferentiable terrain gait switching method stability criteria interference criteria
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