Trotting gait planning for a quadruped robot with high payload walking on irregular terrain

Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a Posture Feedback Compensation Controller (PFCC) for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably and fast on irregular terrain, we choose trotting gait for walking. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of walking on irregular terrain have been performed. The results have verified that the proposed methods have better stability and higher speed for walking on the irregular terrain.