An Optimal Initial Foot Position for Quadruped Robots in Trot Gait

Abstract

Abstract Gait planning parameters are important for quadruped robots to walk stably. In this paper, application of inverted pendulum model is widdened and a new collision model of quadruped trotting between feet and the ground that can indicate body-attitude changes in walking is established. Influences of initial foot position, walking cyclic period and stride length on walking stability are discussed. The influence varies with different initial foot positons and we get the optimal initial foot position for the quadruped in trot gait with minimum variation in body attitude and maximum walking stability. Finally, we get the optimal initial foot position and walking cyclic period with minimal collision velocity. Simulation results are presented.