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A method of free gait generation for quadrupeds is presented by introducing the primary/secondary gait. The primary gait is a fixed sequence of leg transfers with modified leg-ends kinematic limits according to the obstacle presence, while the secondary gait is a flexible gait which is generated to adjust the leg-end position. Using the proposed method, a machine tends to move with primary gait during the motion. When the primary gait cannot move the vehicle, the secondary gait is adopted to serve as a complement of the primary gait. Four constraints, namely, stability constraint, kinematic constraint, sequential constraint and neighboring constraint are considered when gaits are generated. The influence of the obstacle is taken into account to modify the gait parameters. With the proposed method based on primary/secondary gait, it is expected to improve the efficiency of free gait generation while maintaining the mobility of the vehicle. Simulation results are given to demonstrate the efficiency of the proposed algorithm.
Bai et al. (Mon,) studied this question.