Novel Multi-gait Strategy for Stable and Efficient Quadruped Robot Locomotion

Authors

Daoxun Zhang, College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Xieyuanli Chen, College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Zhengyu Zhong, College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Ming Xu, College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Zhiqiang Zheng, College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
Huimin Lu, College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China

Abstract

Abstract: Inspired by the natural gait transition mechanism of quadruped animals, a multi-gait motion strategy is proposed to realize the stable and efficient motion of quadruped robots on different terrains in response to the trade-off between motion energy efficiency and motion stability. The gait is defined based on the duty cycle parameters and phase bias to form the switching basis. Secondly, the affine transformation of gait parameters and the finite state machine are introduced to establish the switching sequence, which realizes the timely gait switching. The speed-gait mapping is designed based on the cost of transport (CoT) and the stability index, which determines the suitable gait selection under different terrains. The gait selection strategy and transition mechanism are combined to realize the real-time selection and switching of the multi-terrain gait under different speeds. Both the simulated and experimental results show that the proposed multi-gait strategy can realize the efficient and stable motion of the quadruped robot under different terrains.

Recommended Citation

Zhang, Daoxun; Chen, Xieyuanli; Zhong, Zhengyu; Xu, Ming; Zheng, Zhiqiang; and Lu, Huimin (2025) "Novel Multi-gait Strategy for Stable and Efficient Quadruped Robot Locomotion," Journal of System Simulation: Vol. 37: Iss. 1, Article 2.
DOI: 10.16182/j.issn1004731x.joss.24-0917
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss1/2

First Page

13

Last Page

24

CLC

TP242; TP391.9

Recommended Citation

Zhang Daoxun, Chen Xieyuanli, Zhong Zhengyu, et al. Novel Multi-gait Strategy for Stable and Efficient Quadruped Robot Locomotion[J]. Journal of System Simulation, 2025, 37(1): 13-24.

Corresponding Author

Lu Huimin

DOI

10.16182/j.issn1004731x.joss.24-0917