关键词: 四足机器人, 爬行步态, 贪婪决策, 反馈控制, 抗扰动

Abstract: A novel crawling gait planning algorithm of quadruped robot based on feedback control and greedy decision is proposed in this paper. The proposed algorithm utilizes the on-board inertial sensor IMU（Inertial Measurement Unit） to calculate the real-time Zero Moment Point（ZMP） of the robot, and plans its expected trajectory in the polygon composed of the ground foot with stability margin as the performance index. The proposed algorithm adopts the nonlinear PD controller to continuously adjust the ZMP, which can guarantee the robot has the ability to resist the external disturbance. Based on the proposed area greedy decision and robot’s physical structure constraint, the swing leg can automatically trigger without fixed gait cycle and order. The experimental results on actual quadruped robots show that the robot can realize stable crawling and rotation on the flat ground. The proposed algorithm has anti-disturbance performance, which can be easily realized on small, low-cost quadruped robots.

Key words: quadruped robot, crawling gait, greedy decision, feedback control, anti-disturbance