Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator to output the standard oscillation signals and the motion amplitude adjustment for controllable oscillation amplitudes of the negative part and positive part. The gait planning algorithm outputs a sequence set of footholds that guarantees the stability and validity of locomotion. The experimental results on a real quadruped robot prove the feasibility and effectiveness of our system in unstructured terrain.
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