Multi-task Control for a Quadruped Robot with Changeable Leg Configuration
Linqi Ye,Houde Liu,Xueqian Wang,Bin Liang,Bo Yuan,Linqi Ye,Houde Liu,Xueqian Wang,Bin Liang,Bo Yuan
This paper proposes a multi-task control strategy for a quadruped robot named THU-QUAD II. The mechanical design of the robot ensures a wide range of motion for all joints, which allows it to stand and walk like a mammal as well as sprawl to the ground and crawl like a reptile. Five basic leg configurations are defined for the robot, including four mammal-type configurations with bidirectional kne...
