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We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on stability of the robot is also reported. Finally, simulation and experimental test are also executed to evaluate the performance of the algorithm.
Date of Conference: 18-22 Oct. 2010