Research on Adaptive Control in Complex Terrain for Quadruped Robot.

In order to improve the locomotion ability of quadruped robot under the uneven terrain, an adaptive control method of quadruped robot is proposed in this paper. Firstly, by introducing into the threshold of terrain elevation and calculating irregularity information to detect whether the foothold area is safe. Secondly, according to the key points and size information of the virtual obstacle, re-plan the swing trajectory and foothold of the swing leg online. Thirdly, the body balance control strategy is used to achieve obstacle crossing by integrating the ground plane estimation and force allocation optimization. Finally, this proposed method is tested in Vortex simulation environment, and the experiment verifies the effectiveness.