Intelligent walking gait generation for legged robots

Despite the fact that wheeled vehicles are widely used as a means of transport, legged vehicles have better mobility on wide variety of terrain. Also, they can be designed to negotiate and step over obstacles, climb walls and transfer between planar surfaces. In order to achieve this potential, it is essential for the legged robots to develop flexible walking gaits which can handle this wide variety of terrain. This paper presents a new gait generation technique, named Fuzzy-Logic Adaptive Gait (FLAG) algorithm. The FLAG aims to provide an improved gait strategy that enables the generation safe and efficient stepping motions over both known and unknown terrain surfaces.