Discontinuous gait for statically stable stair climbing and descending of quadruped robot with horizontal body posture

ABSTRACT

For improving the functionality, a quadruped robot must have the capabilities to manoeuvre over different terrain conditions like slope & stair climbing, obstacle avoidance, uneven & rough terrain, etc. In all such conditions, the primary requirement for a robot is to be stable while walking. In the present work, an attempt is made to develop a gait scheme of quadruped robots for statically stable straightforward stair climbing and descending, with horizontal posture. The use of a discontinuous type of gait in the proposed scheme makes it more stable and easier to implement. The proposed scheme has been simulated and its stability is validated.

Graphical Abstract

KEYWORDS:

• Quadruped robot
• static gait
• stair climbing
• stair descending

Highlights of the work done

• Horizontal posture of a body

• Stair climbing and descending with static stability and horizontal body posture

• Discontinuous statically stable gait planning for quadruped robot

• Leg workspace analysis

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

The authors have no funding to report.

Notes on contributors

Ashish Majithiya

Mr. Ashish Majithiya has obtained BE (Mechanical Engineering) from Gujarat Technological University in 2012 and MTech (CAD/CAM) from Nirma University in 2015. He worked for 4 years as an Assistant Professor at Gandhinagar Institute of Technology, Gujarat, India. Currently, he is pursuing PhD at Nirma University. His research interests are Kinematics and Dynamics of robotic arms and legged robots.

Jatin Dave

Dr Jatin Dave obtained BE (Mechanical Engineering) degree in 1999 and ME (CAD/CAM) degree in 2002 from Gujarat University. He obtained PhD degree from Nirma University in 2016. Since 2005, he is working with Mechanical Engineering Department at Nirma University, Gujarat, India. Dr Dave’s research interests include Robotics, Computer aided Engineering and CAD.