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Method for generating free gaits for four-footed bionic robot

The invention relates to a method for generating free gaits for a four-footed bionic robot. All of the free gaits of the four-footed robot are programmed according to moving periods, and each moving period comprises a four-footed supporting stage and a stepping stage; at the four-footed supporting stages, four feet of the robot are all positioned at supporting phases, the center of gravity of the robot moves in the advancing direction and the side directions of the advancing direction, in the advancing direction, the robot moves the largest advancing distance allowed by a current state, and in the side directions, the moving distance of the robot is determined taking account of the stability and the energy consumption of the robot at the same time; at the stepping stages, one foot of the robot is positioned at a swinging phase, and the other three feet of the robot are positioned at the supporting phases; when the swing foot of the robot for a certain moving period comes in contact with the ground, the movement of the robot for the next moving period is programmed. Through the adoption of the method, the adaptability of the four-footed robot to terrain is effectively improved, the stability of the robot can be improved, the continuity of the movement of the robot is ensured, the energy consumption is reduced, and the mean movement speed is accelerated.
Owner:SHANDONG UNIV
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