Dynamic Locomotion of Quadruped Robot in Sloping Terrain

Abstract

In order to improve the locomotion capability of quadruped robot in the sloping terrain and enhance whose adaptability to the environment, this paper proposes a method to realize dynamic locomotion of quadruped robot in sloping terrain completely based on model predictive control (MPC) and proprioception. According to the foot contact signal and the robot body posture information measured by inertial measurement unit (IMU), quadruped robot actively changes whose body posture to adapt to different sloping terrains. This paper builds quadruped robot virtual prototype and test terrain in Webots simulation environment. The experimental results show that with this method, the roll angle fluctuation range of the quadruped robot is less than 0.05rad and the yaw angle fluctuation range is not more than 0.003rad. At the same time, when the angle of slope changes, the terrain adaptation time of the quadruped robot is less than 1.8s. The above results show that quadruped robot has excellent movement ability in sloping terrain and environmental adaptability under the condition of ensuring stability with the method proposed in this paper.