An Adaptive Behavior Under Uneven Terrains for Quadruped Robot.

In order to improve the adaptive behavior performance of the quadruped robot under uneven terrains, based on the locomotion characteristic of the trot gait, the robot is simplified as the model of the body and virtual leg. The virtual leg dynamics is established and analyzed. Also, on the basis of the dynamic model, the foothold and the trajectory during the stance duration are planned. Combined with the extern force exerted on the robot, the contact compliance control model is established to map to multi-DOF joints. The body posture balance could be achieved by compensating the foot position. The experiment is built in the uneven terrain with the trot gait, and the experimental result validates the feasibility of the method.