Stair Climbing in a Quadruped Robot

Article English OPEN
Shen-Chiang Chen; Chih-Chung Ko; Cheng-Hsin Li; Pei-Chun Lin;
(2012)
  • Publisher: Chinese Institute of Automation Engineers (CIAE) & Taiwan Smart Living Space Association (SMART LISA)
  • Journal: International Journal of Automation and Smart Technology (issn: 2223-9766)
  • Publisher copyright policies & self-archiving
  • Related identifiers: doi: 10.5875/ausmt.v2i1.77
  • Subject: Automation | Stair climbing | T59.5 | Information technology | Leg coordination | Trajectory planning | T58.5-58.64 | Quadruped
    acm: ComputingMethodologies_COMPUTERGRAPHICS | ComputingMilieux_PERSONALCOMPUTING | ComputerApplications_COMPUTERSINOTHERSYSTEMS | ComputingMethodologies_ARTIFICIALINTELLIGENCE

This paper reports the algorithm of trajectory planning and the strategy of four-leg coordination for quasi-static stair climbing in a quadruped robot. This development is based on the geometrical interactions between robot legs and the stair, starting from single-leg a... View more