Perspective Of Vision, Motion Planning, And Motion Control for Quadruped Robots

Abstract

In recent years, robot technology has made great progress, especially quadruped robots. Quadruped robot is a bionic robot that imitates the movement of quadruped animals. For quadruped machines in complex environments, our group first investigate the control of quadruped robots in complex situations. It is found that the current quadruped robots can achieve better motion control under various complex conditions, but there are still limitations. Its structure includes the trunk and four legs located in front and behind the trunk. Each leg has the same structure, including the thigh, calf, and foot. This paper summarizes the research on foot structure design and foot tip trajectory optimization of quadruped robot. Machine Vision is a branch of artificial intelligence that is developing rapidly. Simply put, machine vision is to use machines instead of human eyes to make measurements and judgments. The following passage discusses about two main kinds of algorithm, while making analytic and comparisons among others and why to choose these two out in the machine vision part of quadruped robots. By summarizing and analyzing the research status, this paper proposes some challenging and valuable future research directions.