Generalized Standard Foot Trajectory for a Quadruped Walking Vehicle

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Abstract
This article discusses a generalized method to produce stan dard foot trajectories for a quadruped walking vehicle having arbitrary reachable ranges and walking on uneven and in clined surfaces in random posture. The standard supporting foot trajectories are one of the most basic parameters for gait control, because the legs have to follow the trajectories as long as the irregular degree of terrain and posture conditions are maintained. The introduced method goes through the processes of (1) projection of the gait scheme on a horizontal plane, (2) definition of the effective searching areas, (3) selec tion of a crab-walking pattern between x and y types, (4) generation of the stroke contour maps, and (5) selection of the longest stroke and its existing areas. The validity of the proposed method is verified by several computer simulations.

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