Research on gait planning and motion control of a small quadruped robot

Fei Li; Gang Hong; Shuo Li

doi:10.1117/12.3011211

1 December 2023 Research on gait planning and motion control of a small quadruped robot

Fei Li, Gang Hong, Shuo Li

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401I (2023) https://doi.org/10.1117/12.3011211
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

The quadruped robots have a good prospect in substation inspection applications because of their stronger terrain adaptability. This paper focuses on the gait planning and motion control of small intelligent quadruped robots. Firstly, the mechanical structure design of a quadruped robot is completed based on SolidWorks software. Secondly, the kinematics of the designed quadruped robot is analyzed, and gait planning of the walk gait and the steering gait is designed. Finally, the experiments of the walk gait and the steering gait are completed on the physical platform of the quadruped robot designed in this paper. When the robot performs the walk gait, the average forward speed is 0.04 m/s. When the robot performs steering gait, the average steering speed is 9°/s. The experimental results show that the gait control method designed in this paper can achieve stable control of quadruped robot motion.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Fei Li, Gang Hong, and Shuo Li "Research on gait planning and motion control of a small quadruped robot", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401I (1 December 2023); https://doi.org/10.1117/12.3011211

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KEYWORDS

Gait analysis

Kinematics

Motion controllers

Design and modelling

Connectors

Control systems design

Microcontrollers

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