提出多步态策略，让四足机器人在不同地形中既稳又省力。
A Novel Multi-Gait Strategy for Stable and Efficient Quadruped Robot Locomotion
- 基于能耗与稳定性构建步态映射，指导步态选择。
- 通过仿射变换与有限状态机实现平滑步态切换。
- 实测优于基线方法，在复杂环境中兼顾效率与稳定。
受四足动物自然步态转换机制启发，设计有效的步态转换策略对四足机器人在多种地形和速度下实现节能运动至关重要。尽管已有研究指出步态与速度影响能量消耗（CoT）和运动稳定性，但很少有工作能有效结合两者以同时保障效率与稳定。本文提出一种多步态选择与转换策略，实现跨地形的稳定高效运动。首先建立综合考虑CoT与运动稳定性的步态映射，指导运动过程中的步态选择；随后引入仿射变换调整步态参数，并设计有限状态机确定步态切换顺序，实现及时切换。在多种地形与速度条件下进行综合实验，结果表明，所提策略在同时优化CoT与稳定性方面显著优于基线方法。
原文摘要 · Abstract (English)
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While previous studies have recognized that gait patterns linked to velocities impact two key factors, the Cost of Transport (CoT) and the stability of robot locomotion, only a limited number of studies have effectively combined these factors to design a mechanism that ensures both efficiency and stability in quadruped robot locomotion. In this paper, we propose a multi-gait selection and transition strategy to achieve stable and efficient locomotion across different terrains. Our strategy starts by establishing a gait mapping considering both CoT and locomotion stability to guide the gait selection process during locomotion. Then, we achieve gait switching in time by introducing affine transformations for gait parameters and a designed finite state machine to build the switching order. Comprehensive experiments have been conducted on using our strategy with changing terrains and velocities, and the results indicate that our proposed strategy outperforms baseline methods in achieving simultaneous efficiency in locomotion by considering CoT and stability.
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