Adaptive Motion Skill Learning of Quadruped Robot on Slopes Based on Augmented Random Search Algorithm

• DOI: 10.3390/electronics11060842
• Publication Date: 2022-03-08T17:35:37Z
• Authors: Xiaoqing Zhu; Mingchao Wang; Xiaogang Ruan; Lu Chen; Tingdong Ji; Xinyuan Liu
• Keywords: Zero moment point; Center of gravity

To deal with the problem of stable walking quadruped robots on slopes, a gait planning algorithm framework for facing unknown slopes is proposed. We estimated terrain slope by attitude information measured inertial measurement unit (IMU) without relying robot vision. The crawl was adopted, and center gravity trajectory carried out based stability criterion zero-moment point (ZMP). Then, augmented random search (ARS) used to modulate parameters Bezier curve realize foot trajectory. Additionally, can adjust posture in real time follow desired joint angle, which realizes adaptive adjustment robot’s during movement. Simulation experiment results show that proposed adaptively stably pass through environment when unknown.