| Issue |
MATEC Web Conf.
Volume 388, 2023
2023 RAPDASA-RobMech-PRASA-AMI Conference Advanced Manufacturing Beyond Borders - The 24th Annual International RAPDASA Conference joined by RobMech, PRASA and AMI, hosted by CSIR and CUT
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|---|---|---|
| Article Number | 04022 | |
| Number of page(s) | 9 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202338804022 | |
| Published online | 15 December 2023 | |
Gait generation for real-time quadruped locomotion
1 Department of Electrical and Electronic Engineering, Stellenbosch University, South Africa
2 Department of Electrical and Electronic Engineering, Stellenbosch University, South Africa
21063990@sun.ac.za
cfisher@sun.ac.za
Gait generation for a legged robot in real-time is no simple task. Typically, powerful processors are required to perform real-time trajectory optimisation techniques to generate the trajectories , or the platform requires full state feedback and controllers to track a pre-generated trajectory. Here we present a novel method for generating gaits in real-time by varying three parameters (RideHeight, StepLength, and StepHeight). Various successful walking experiments were performed with the developed quadrupedal platform, demonstrating that this method worked with minimal state feedback (only leg angles) and limited processing power (Teensy 4.0 microcontroller was used). The resulting gait was generated in real-time and maintained stability in open loop. The platform was capable of traversing obstacles (50mm x 50mm) and ascending or descending slopes (15°).
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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