A gait for quadruped walking robots to step over obstacles by means of a visual sensor

摘要

We discuss a gait for quadruped walking robots to step over obstacles, maintaining enough stability margin. Regularly, the standard type of intermittent crawl gait is known as the one which can maximize stability margin. But in practice, it is necessary for the robot to adapt itself to the terrain avoiding the obstacles. Here, the adaptive intermittent crawl gait to the rugged terrain is proposed on the basis of the information from the vision sensor.