The slope adaption is one of the crucial capabilities for a quadruped robot in filed. We propose a terrain estimator and adjustment strategies for the quadruped locomotion on a high-slope terrain. The terrain slope can be predicted according to the foot positions, then the body orientation and body height relative to the terrain are adjusted to adapt the slope in real-time. For the quadruped robot locomotion controller, we propose a state estimation on the body height instead of the contact height, which is proved to enhance the slope adaption. Throughout various experiments, the robot can move on the maximum slope angle of up to 43° at a forward velocity of 0.7 m/s. As well as, it can stably self-rotate on the slope of 32° at the rotation velocity of 2 rad/s.
Adaptive Locomotion Controller for a Quadruped Robot on a High-Slope Terrain
2024-01-12
1522120 byte
Conference paper
Electronic Resource
English
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