1. Sideways turning
Sideways turning means that the robot turns sideways, which is usually achieved by walking in a curve. Specifically, when the robot turns, it takes a step forward with one leg and steps backward with the other leg, which allows the robot to turn smoothly without affecting the robot's stability and movement speed.
2. Turning radius
The turning radius is an important factor that determines the turning effect of the robot, which is usually determined by the gait planning algorithm. A smaller turning radius can make the robot more flexible, but it will also affect the robot's stability and movement speed; while a larger turning radius can maintain the robot's stability, but the flexibility will be limited.
3. Leg movement
Leg movement is another key factor for quadruped robots to achieve turning. When turning, the robot needs to raise the front leg on one side and lower the hind leg on the other side to support the lateral movement of the robot's body to achieve turning. At the same time, the robot's gait also needs to be adjusted accordingly according to the turning radius to ensure the robot's stability and movement speed.
3. Posture control of quadruped robots
In order to ensure the stability and flexibility of the robot when turning, corresponding posture control is required. Specifically, the robot needs to adjust its body posture, especially the center of gravity, to adapt to different turning radius and leg movement methods. In addition, the robot also needs to pay attention to maintaining the balance of the body to avoid abnormal situations such as tilting or leaning back.
4. Gait planning and sensor monitoring of quadruped robots
Gait planning refers to the gait pattern adopted by the robot when turning. Since the quadruped robot needs to achieve turning through different leg movement methods, it is necessary to carry out corresponding gait planning according to factors such as the specific turning radius and the size of the robot. At the same time, the robot also needs to rely on sensors to monitor the posture and movement state of the robot's body, and adjust parameters such as gait and posture control in time to maintain the stability and flexibility of the robot.
