Study On The Morphological Parameters Of Quadruped Robot Designs Considering Ditch Traversability

Legged robots have potentials of superior mobility than traditional wheeled and tracked vehicles on rugged terrains in extreme environment. To understand the best utilization of this exceptional locomotion capability, a plenty of legged robots are developed in recent decades. One of the most fundamental issue is how to optimize the morphological parameters such as limb length and joint configuration towards the best task performance. This paper presents an in-depth study on the relationship between the morphological parameters of quadruped robots and the capability of obstacle-negotiation in the ditch crossing scenario. Simulations are studied based on static stability and critical postures, and the results are analysed and discussed.