Table of Contents Author Guidelines Submit a Manuscript
Journal of Robotics
Volume 2019, Article ID 3153195, 12 pages
Research Article

Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain

College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China

Correspondence should be addressed to Yanling Guo; moc.361@ufen_lyoug

Received 11 January 2019; Revised 18 March 2019; Accepted 26 March 2019; Published 2 May 2019

Academic Editor: Gordon R. Pennock

Copyright © 2019 Xingdong Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Quadruped robot has great potential to walk on rough terrain, in which static gait is preferred. A hierarchical structure based controlling algorithm is proposed in this paper, in which trajectory of robot center is searched, and then static gaits are generated along such trajectory. Firstly, cost map is constructed by computing terrain features under robot body and cost of selecting footholds at default positions, and then the trajectory of robot center in 2D space is searched using heuristic A algorithm. Secondly, robot state is defined from foothold and robot pose, and then state series are searched recursively along the trajectory of robot center to generate static gaits, where a tree-like structure is used to store such states. Lastly, a classical model for quadruped robot is designed, and then the controlling algorithm proposed in the paper is demonstrated on such robot model for both structured terrain and complex unstructured terrain in a simulation environment.