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Trajectory planning and four-leg coordination for stair climbing in a quadruped robot

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4 Author(s)
Chih-Chung Ko ; Dept. of Mech. Eng., Nat. Taiwan Univ. (NTU), Taipei, Taiwan ; Shen-Chiang Chen ; Cheng-Hsin Li ; Pei-Chun Lin

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.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010