Gait transition of quadruped robot using time sequence control based on finite-state machine

The adaptability of velocity changing of quadruped robot needs to be realized by gait transition. In this paper, a gait transition method of a quadruped robot based on changing the time sequence was investigated. The swing phase and the stance phase are separated by finite-state machine (FSM), and the locomotion gait involves breaking/enforcing synchronization or changing the order of leg liftoff events, it makes the duration time of liftoff and touchdown events variable. The gait transition from walk to trot is realized by the combination driving of time and event. The experiment is verified by interactive co-simulation among Matlab-Adams. The transition method satisfies the velocity changing of quadruped robot.