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.
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
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.