Jinglei Zhao, Huayan Pu, Yi Sun, Shugen Ma, Yayi Shen, Jun Luo, and Zhenbang Gong
Quadruped robot, gait planning, stability, ePaddle-EGM
The eccentric paddle mechanism based on an epicyclic gear mecha- nism (ePaddle-EGM) is a novel locomotion mechanism designed for amphibious search and rescue tasks. A quadruped robot consisting of four ePaddle-EGM modules has great mobility on multiple ter- rains. A gait planning method for conducting a legged crawl gait is proposed for this quadruped robot. And a novel principle of backlash-insensitive motion planning method on a single ePaddle- EGM module is firstly introduced. Analysis on gait sequence and stability margin of the quadruped robot are then presented. Finally, how the gait parameters affect the stability and mobility of the robot is analysed. Locomotion simulations are conducted in a multi-body dynamic simulator to verify proposed method.
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