Ryuichi Hodoshima, Takahiro Doi, Yasushi Fukuda, Shigeo Hirose, Toshihito Okamoto, and Junichi Mori

Abstract:
We detail a step over gait for a quadruped walking robot that maintains a continuous walking with sufficient stability margin for avoiding ferroconcrete reinforcement frames covering steep slopes. For this gait, the robot must adapt itself to terrain and step over these frames. We propose a terrain-adaptive gait based on an intermittent crawl gait using map information. After introducing the gait control algorithm, we show results of graphical simulation to verify the proposed algorithm. Then, these discussions are established by walking experiments using the developed quadruped walking robot named TITAN XI.

Keywords: quadruped walking robot, intermittent crawl gait, terrain-adaptive gait, concrete frame avoidance, map generation