In this paper, we present a method that focuses on posture correction for stable quadruped locomotion over un- even terrain. Stability is ensured by switching to stable postures during gait transitions, where the posture is selected based on the terrain, foothold reachability and gait sequence. For fast and efficient posture evaluation, we use value functions that approximate stability and kinematic parameters. Learning using regression methods is used to create the value functions, which eliminates the need for additional sensors and computation for posture evaluation. This approach has been verified both numerically and experimentally. © 2017 ACM.

Suril Vijaykumar Shah

Department of Mechanical Engineering

IIT Jodhpur

A. Agrawal

A. Jadhav

N. Pareekutty

S. Mogili

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Terrain Adaptive Posture Correction in Quadruped for Locomotion On Unstructured Terrain

ACM International Conference Proceeding Series

Terrain adaptive posture correction in quadruped for locomotion on unstructured terrain

Journal	Data powered by TypesetACM International Conference Proceeding Series
Publisher	Data powered by TypesetAssociation for Computing Machinery