Gait Phase Optimization of Swing Foot for a Quadruped Robot

Abstract

Quadruped robot has gained considerable interests since its wide applications in both military and entertainment scenarios. On the control and gait planning of quadruped robots, walking stability is the fundamental problem in most scenarios. In this paper, we proposed a gait phase optimization method on the swing foot of quadruped robots in walking gait. In the proposed gait optimization method, Lift-up and Touch-down phases are added in gait planning of swing foot, which aiming to improve the stability in walking phases. Finally we validate the proposed method on a quadruped robot, and experimental results indicate that the proposed gait phase optimization method has the ability to improve the stability of the quadruped robot in walking gait.