Trajectory planning for stair climbing in the leg-wheel hybrid mobile robot quattroped

The algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot is reported. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. A brief study on stability of the robot is included. In addition, the first-step and last-step algorithm which deals with...