Quasi-Static Step Number Determination Method of a Quadruped in Step Crossing

摘要

Legged living creatures can move on any kinds of terrain with good adaptability. They read the terrain conditions and repeat inherent or acquired obstacle crossing sequences, which can be imitated mechanically for the design of a Quadruped. For the prototype model and the step, four corner distances are determined according to the desired body angle and the continuous locomotion sequences are determined. Also, the requirements to satisfy three conditions for step-down are introduced, which makes it possible to determine the exact number of steps in the second phase of step-down. Since step-up is the reverse of step-down, all the governing parameters are the same and the locomotion sequences of step-down are also the reverse of step-up, except for the case of walking-down by gravity. The dimensions of a suggested quadruped are used to calculate the crossing performance for the purpose of comparison.