Improving traversability of quadruped walking robots using body movement in 3D rough terrains

Authors:
Vo-Gia Loc;Ig Mo Koo;Duc Trong Tran;Sangdoek Park;Hyungpil Moon;Hyouk Ryeol Choi
Affiliations:
School of Mechanical Engineering, Sungkyunkwan University, Chonch'on-dong, Jangan-gu, Suwon, Kyonggi-do, Republic of Korea;School of Mechanical Engineering, Sungkyunkwan University, Chonch'on-dong, Jangan-gu, Suwon, Kyonggi-do, Republic of Korea;School of Mechanical Engineering, Sungkyunkwan University, Chonch'on-dong, Jangan-gu, Suwon, Kyonggi-do, Republic of Korea;Division of Applied Robot Technology, Korea Institute of Industrial Technology, Ansan, Republic of Korea;School of Mechanical Engineering, Sungkyunkwan University, Chonch'on-dong, Jangan-gu, Suwon, Kyonggi-do, Republic of Korea;School of Mechanical Engineering, Sungkyunkwan University, Chonch'on-dong, Jangan-gu, Suwon, Kyonggi-do, Republic of Korea
Venue:
Robotics and Autonomous Systems
Year:
2011

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Abstract

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.