A Variable Artificial Potential Field Method for Gait Generation of Quadruped Robot

This paper proposes a variable artificial potential field method (VAPF) that can be used to generate the gait of a quadruped robot, which combines the virtual potential field theory with the quadruped motion behavior to generate a smooth motion trajectory of the foot. According to the different stages of single-leg movement, which includes the support phase and the swing phase, the VAPF method constructs the point potential field-based model including the attraction domain and the repulsion domain, respectively. The joint torque directly output by the potential field model can realize the desired trajectory of the foot in the robot body coordinate system. An independent attitude controller is designed, and the joint torque respectively calculated by this controller and the VAPF are applied to the robot together to generate the actual gait. Finally, a simulation of trot gait generation was performed and analysis.