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Gait Design and Analysis of Quadruped Crawling Robot Climbing Over the Raised Terrain of Slope

Author(s):

Peng Wang*, Renquan Dong, Tiecheng Sun and Qiong Tang  

Abstract:


Background: It is a challenge that quadruped crawling robots face when working in the raised terrain of slope. The robot is affected by gravity and gait under this terrain, the ground reaction force on its hind legs is relatively large. This has strict requirements for the structure and gait planning of the quadruped crawling robot.

Objective: Aiming at that the ground reaction force on the hind legs of quadruped crawling robot is relatively large when the robot climbing over the raised terrain of slope, a slope-triangular gait walking strategy for quadruped robots based on a layered CGP gait generation method is proposed.

Methods: Three-dimensional model of the quadruped crawling robot is created in SOLIDWORKS. The kinematic model is established, and the foot position vector is obtained. Consider the characteristics of the raised terrain of slope, slope tripod gait and hierarchical CPG slope tripod gait generator are proposed. Comparative simulation of sloped tripod gait and flat tripod gait, the slope tripod gait with and without the gait generator is carried out by Adams programming.

Results: Compared the centroid displacement curve, foot speed curve, and foot contact force curve of slope tripod gait and flat tripod gait. Compare the posture angle curves of the fuselage with and without the slope tripod gait generator. The result proves that the tripod gait walking strategy is feasible.

Conclusion: The slope tripod gait walking strategy can improve the impact resistance of the quadruped crawling robot on sloped high ground. The gait design and motion analysis process of the robot can provide a reference for other quadruped crawling robot device.

Keywords:

Raised terrain of slope, impact resistance of quadruped crawling robot, forward kinematics analysis, slope tripod gait planning, CPG slope tripod generator, comparative simulation analysis of gait.

Affiliation:

College of Mechanical and Electrical Engineering, Huzhou Vocational & Technical College, Huzhou 313099, Zhejiang, School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, Heilongjiang, School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, Heilongjiang, School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, Heilongjiang



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